@Article{Kavraki98,
  Title                    = {Analysis of Probabilistic Roadmaps for Path Planning},
  Author                   = {L.E. Kavraki and M.N. Kolountzakis and J.C. Latombe},
  Journal                  = {IEEE Transactions on Robotics and Automation},
  Year                     = {1998},
  Month                    = {February},
  Pages                    = {166-171},
  Volume                   = {14}
}

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