@Article{LIS6,
title = {Spatial Planning: A Configuration Space Approach},
author = {Tomas Lozano-Perez},
year = {1983},
url = {http://lis.csail.mit.edu/pubs/tlp/spatial-planning.pdf},
journal = {IEEE Transactions on Computers},
volume = {32},
pages = {108--120},
}