L. E. Kavraki, M. N. Kolountzakis, and J.-C. Latombe, “Analysis of Probabilistic Roadmaps for Path Planning,” in Proceeedings of The 1996 International Conference on Robotics and Automation (ICRA 1996), Minneapolis, MN, 1996, pp. 3020–3026.
Publisher: http://dx.doi.org/10.1109/ROBOT.1996.509171
PDF preprint: http://kavrakilab.org/publications/kavraki-kolountzakis1996analysis-of-probabilistic.pdf