@ARTICLE{BaTsi:auto10,
  author = {Bakolas, E. and Tsiotras P.},
  title = {The {Zermelo-Voronoi} Diagram: a Dynamic Partition Problem},
  journal = {Automatica},
  year = {2010},
  volume = {46},
  pages = {2059-2067},
  number = {12},
  doi = {10.1016/j.automatica.2010.09.003}
}