B. Barraquand, L. E. Kavraki, J.-C. Latombe, T.-Y. Li, R. Motwani, and P. Raghavan, “A Random Sampling Scheme for Robot Path Planning,” in Robotics Research, North Holland, 1996, pp. 249–264.
Publisher: http://dx.doi.org/10.1007/978-1-4471-0765-1_28
PDF preprint: http://kavrakilab.org/publications/barraquand-kavraki1996random-sampling-scheme.pdf