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![Cover for Jan Oliver Wallgrun · Hierarchical Voronoi Graphs: Spatial Representation and Reasoning for Mobile Robots (Pocketbok) [2010 edition] (2014)](https://imusic.b-cdn.net/images/item/original/103/9783642425103.jpg?jan-oliver-wallgrun-2014-hierarchical-voronoi-graphs-spatial-representation-and-reasoning-for-mobile-robots-pocketbok&class=scaled&v=1614107427)