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Book Chapter
Ladd AM, Kavraki LE.  2005.  Fast Tree-Based Exploration of State Space for Robots with Dynamics. Algorithmic Foundations of Robotics VI. :297-312.
Abstract      Preprint PDF     Publisher's web site     
Journal Article
Kavraki LE, Svestka P, Latombe J-C, Overmars M.  1996.  Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces. IEEE Transactions on Robotics and Automation. 12(4):566-580.
Abstract      Preprint PDF     Publisher's web site