@Article{Wellington06:GenerativeTerrainModel,
  author =    {Carl Wellington and Aaron Courville and Anthony Stentz},
  title =     {A Generative Model of Terrain for Autonomous Navigation in Vegetation},
  journal =   {International Journal of Robotics Research},
  year =      {2006},
  volume =    {25},
  number =    {12},
  pages =     {1287--1304},
  doi   =     {http://dx.doi.org/10.1177/0278364906072769}
}