@Article{LIS5,
title = {Automatic planning of manipulator transfer movements},
author = {Tomas Lozano-Perez},
year = {1981},
url = {http://lis.csail.mit.edu/pubs/tlp/automatic-planning-transfer-motions.pdf},
journal = {IEEE Transactions on Systems, Man, and Cybernetics},
volume = {11},
pages = {681--698},
}