A Random Sampling Scheme for Robot Path Planning,
Barraquand B, Kavraki LE, Latombe J-C, Li T-Y, Motwani R, Raghavan P
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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)