IS = { zkontrolovano 04 Jan 2012 },
  UPDATE  = { 2011-10-17 },
   author = {Faigl, Jan and Ma{\v c}{\' a}k, Jan},
   title = {Multi-Goal Path Planning Using Self-Organizing Map with Navigation Functions},
   booktitle = {Proceedings of the 19th European Symposium on Artificial Neural Networks, 
                Computational Intelligence and Machine Learning},
   publisher = {Ciaco - i6doc.com},
   address = {Louvain la Neuve, Belgium},
   year = {2011},
   pages = {41--46},
   book_pages = {509},
   ISBN = {978-2-87419-044-5},
   language = {English},
   project = {SGS10/185/OHK3/2T/13},
   annote = {This paper presents a combination of Self-Organizing
    Map (SOM) approach and navigation functions in the Traveling
    Salesman Problem with segment goals where paths between goals have
    to respect obstacles. Hence, the problem is called multi-goal path
    planning. The problem arises from the inspection planning, where a
    path from which all points of the given polygonal environment have
    to be "seen". The proposed approach demonstrates applicability of
    SOM principles in such problems in which SOM has not yet been
   month = {April},
   day = {27-29},
   venue= {Bruges, Belgium},
   keywords={path planning,self-organizing map,navigation functions,robotics},
   URL = {http://www.dice.ucl.ac.be/Proceedings/esann/esannpdf/es2011-26.pdf},