Spatial Planning: A Configuration Space Approach. Lozano-Perez, T. IEEE Transactions on Computers, C-32:108–120, 1983.
bibtex   
@article{Lozano-Perez:1983,
	author = "Lozano-Perez, T.",
	year = "1983",
	title = "Spatial Planning: {A} Configuration Space Approach",
	journal = "IEEE Transactions on Computers",
	volume = "C-32",
	_number = "2",
	pages = "108--120"
}

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