F. Lamiraux and L. E. Kavraki, “Planning Paths for Elastic Objects under Manipulation Constraints,” International Journal of Robotics Research, vol. 20, no. 3, pp. 188–208, 2001.
Publisher: http://dx.doi.org/10.1177/02783640122067354
PDF preprint: http://kavrakilab.org/publications/lamiraux-kavraki2001planning-paths-for.pdf