@INPROCEEDINGS{kuderer14iros, author = {Markus Kuderer and Christoph Sprunk and Henrik Kretzschmar and Wolfram Burgard}, title = {Online Generation of Homotopically Distinct Navigation Paths}, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)}, pages = {6462--6467}, year = 2014, address = {Hong Kong, China}, doi = {10.1109/ICRA.2014.6907813} }