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