Technical Facts About Dynamic Scalar Fields Underlying Algorithms of   Mobile Robots Navigation for Tracking Environmental Boundaries and Extremum   Seeking
  The paper presents some characteristics of unsteady scalar planar fields and studies their properties that are relevant to research on environmental extremum seeking and tracking environmental boundaries by mobile robots. 
Alexey S. Matveev, Anna A Semakova, Andrey V. Savkin
math.OC