3 Kavraki, L. E. Lamiraux, F. Holleman, C. 1998 Towards Planning for Elastic Objects Robotics: The Algorithmic Perspective Natick, MA A.K. Peters 313-325 deformable parts Proceedings of the Third Workshop on the Algorithmic Foundations of Robotics (WAFR), Houston, TX, 1998 http://www.kavrakilab.org/sites/default/files/kavraki1998towards-elastic.pdf