Positioning Symmetric and Non-Symmetric Parts using Radial and Constant Force Fields

F. Lamiraux and L. E. Kavraki, “Positioning Symmetric and Non-Symmetric Parts using Radial and Constant Force Fields,” in Robotics:New Directions, Natick, MA, 2001, pp. 37–50.

PDF preprint: http://kavrakilab.org/publications/lamiraux-kavraki2001positioning-symmetric-and.pdf