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/%7Ectoth/Handbook/HDCG3.html
PDF preprint: http://kavrakilab.org/publications/halperin2016robotics.pdf