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In this paper we present a dynamic data structure, useful for robot navigation in an unknown, simplyconnected planar environment. The guiding philosophy in this work is to avoid traditional problems such as complete map building and localization by constructing a minimal representation based entirely on critical events in online sensor measurements made by the robot. Furthermore, this representation provides a sensor-feedback motion strategy that guides the robot along an optimal trajectorydoi:10.1109/robot.2003.1241638 dblp:conf/icra/TovarLM03 fatcat:yg6vwxnpkvh6zmf3yqkrvlx32u