@article {31764,
	title = {Hierarchical Topology Map with Explicit Corridor for Global Path Planning of Mobile Robots},
	journal = {Intelligent Service Robotics},
	volume = {16},
	year = {2023},
	pages = {195-212},
	url = {https://link.springer.com/article/10.1007/s11370-023-00458-6},
	author = {Jeong-Woo Han and Hyock-Ju Kwon and Soo Jeon}
}
