B. Barraquand, L. E. Kavraki, J.-C. Latombe, T.-Y. Li, R. Motwani, and P. Raghavan, “A Random Sampling Scheme for Robot Path Planning,” International Journal of Robotics Research, vol. 16, no. 6, pp. 759–774, 1997.
Publisher: http://dx.doi.org/10.1177/027836499701600604
PDF preprint: http://kavrakilab.org/publications/barraquand-kavraki1997random-sampling-scheme.pdf