A Subdivision Algorithm in Configuration Space for Findpath with Rotation (bibtex)
by R. A. Brooks and T. Lozano-Perez
Reference:
A Subdivision Algorithm in Configuration Space for Findpath with Rotation (R. A. Brooks and T. Lozano-Perez), In IEEE Transactions on Systems, Man and Cybernetics, volume SMC-15, 1985.
Bibtex Entry:
@article{brooksTLP,
author={R. A. Brooks and T. Lozano-Perez},
title={A Subdivision Algorithm in Configuration Space for Findpath with Rotation}, 
journal={IEEE Transactions on Systems, Man and Cybernetics}, 
volume={SMC-15}, 
number={2},
year={1985}, 
pages={224--233},
url={http://lis.csail.mit.edu/pubs/tlp/subdivision.pdf}}
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