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1998
Randomized Query Processing in Robot Path Planning, Kavraki LE, Latombe J-C, Motwani R, Raghavan P , Journal of Computer and System Sciences, August, Volume 57, Number 1, p.50-60, (1998)

1997
A Random Sampling Scheme for Robot Path Planning, Barraquand B, Kavraki LE, Latombe J-C, Li T-Y, Motwani R, Raghavan P , International Journal of Robotics Research, Volume 16, Number 6, p.759-774, (1997)

1996
A Random Sampling Scheme for Robot Path Planning, Barraquand B, Kavraki LE, Latombe J-C, Li T-Y, Motwani R, Raghavan P , Robotics Research, North Holland, p.249-264, (1996)

1995
Randomized Query Processing in Robot Path Planning, Kavraki LE, Latombe J-C, Motwani R, Raghavan P , Proceedings of the 27th Annual ACM Symposium on Theory of Computing (STOC), May, Las Vegas, NV, p.353-362, (1995)