@InProceedings{Rekleitis2010a,
  author =	 {Raphael Mannadiar and Ioannis Rekleitis},
  title =	 {Optimal Coverage of a Known Arbitrary Environment},
  booktitle =	 {Proc. of IEEE International Conference on Robotics
                  and Automation (ICRA)},
  pages =	 {5525-5530},
  year =	 2010,
  address =	 {Anchorage, AK},
  month =	 {May}
}