Kavraki Lab
D. Halperin, L. E. Kavraki, and K. Solovey, “Robotics,” in Handbook of Discrete and Computational Geometry, J. E. Goodman, J. O’Rourke, and C. D. Tóth, Eds. Boca Raton, NY: CRC Press, 2017.

Publisher: http://www.csun.edu/ ctoth/Handbook/HDCG3.html

PDF preprint: http://kavrakilab.org/publications/halperin2016robotics.pdf