@inproceedings{grey2017footstep,
  title={Footstep and motion planning in semi-unstructured environments using randomized possibility graphs},
  author={Grey, Michael X and Ames, Aaron D and Liu, C Karen},
  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},
  pages={4747--4753},
  year={2017},
  organization={IEEE},
  url ={http://ames.caltech.edu/grey2017footstep.pdf},
  keywords = {Planning, Locomotion, Bipedal Robotics}
}

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