L. E. Kavraki and J.-C. Latombe, “Randomized Preprocessing of Configuration Space for Fast Path Planning,” in Proceedings of the International Conference on Robotics and Automation (ICRA), San Diego, CA, 1994, pp. 2138–2139.
Publisher: http://dx.doi.org/10.1109/ROBOT.1994.350966
PDF preprint: http://kavrakilab.org/publications/kavraki-latombe1994randomized-preprocessing-of.pdf