Joe Sfeir Maarouf Saad Hamadou Saliah-Hassane An improved Artificial Potential Field approach to real-time mobile robot path planning in an unknown environment. 208-213 2011 ROSE https://doi.org/10.1109/ROSE.2011.6058518 conf/rose/2011 db/conf/rose/rose2011.html#SfeirSS11