@InProceedings{LIS152,<br>title = {LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics},<br>author = {A. Perez and R. Platt and G.D. Konidaris and L.P. Kaelbling and T. Lozano-Perez},<br>year = {2012},<br>url = {http://lis.csail.mit.edu/pubs/perez-icra12.pdf},<br>pages = {2537-2542},<br>month = {May},<br>booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},<br>}