D. Hsu, L. E. Kavraki, J.-C. Latombe, R. Motwani, and S. Sorkin, “On Finding Narrow Passages with Probabilistic Roadmap Planners,” in Robotics: The algorithmic perspective, Natick, MA: A.K. Peters, 1998, pp. 141–153.
Publisher: http://portal.acm.org/citation.cfm?id=298960.299001
PDF preprint: http://kavrakilab.org/publications/hsu-kavraki1998on-finding-narrow.pdf