@Article{LIS11,
title = {Automatic Synthesis of Fine-Motion Strategies for Robots},
author = {Tomas Lozano-Perez and Matthew Mason and Russell H. Taylor},
year = {1984},
url = {http://dspace.mit.edu/handle/1721.1/5640},
journal = {International Journal of Robotics Research},
volume = {3},
number = {1},
}