@inproceedings {han2019new,
	title = {A New Global Path Planning Strategy for Mobile Robots Using Hierarchical Topology Map and Safety-Aware Navigation Speed},
	booktitle = {2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
	year = {2019},
	pages = {1586{\textendash}1591},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Han, Jeong-woo and Jeon, Soo and Kwon, Hyock-Ju}
}
