@article{an_qu_roberts_2017, title={A Rainbow Coverage Path Planning for a Patrolling Mobile Robot With Circular Sensing Range}, DOI={10.1109/tsmc.2017.2662623}, journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems}, author={An, Vatana and Qu, Zhihua and Roberts, Rodney}, year={2017}, month={Feb}, pages={1Ð17}}