R. B. Rusu, I. A. Sucan, B. P. Gerkey, S. Chitta, M. Beetz, and L. E. Kavraki, “Real-Time Perception-Guided Motion Planning for a Personal Robot,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 4245–4252.
Publisher: http://dx.doi.org/10.1109/IROS.2009.5354396
PDF preprint: http://kavrakilab.org/publications/rusu-sucan2009real-time-perception-guided-motion.pdf