@InProceedings{LIS7,<br>title = {A Subdivision Algorithm in Configuration Space for Findpath with Rotation},<br>author = {R. A. Brooks and T. Lozano-Perez},<br>year = {1983},<br>url = {http://lis.csail.mit.edu/pubs/tlp/AIM-684.pdf},<br>booktitle = {Eighth Int. Joint Conf. on Artificial Intelligence},<br>}