@Article{LIS3,
title = {An Algorithm for Planning Collison-Free Paths Among Polyhedral Obstacles},
author = {Tomas Lozano-Perez and M. A. Wesley},
year = {1979},
url = {http://lis.csail.mit.edu/pubs/tlp/collision-free-planning-cacm.pdf},
journal = {Communications of the ACM},
volume = {22},
pages = {560--570},
}