@Article{lozano1983spatial,
  Title                    = {Spatial planning: A configuration space approach},
  Author                   = {Lozano-Perez, T.},
  Journal                  = {IEEE Transactions on Computers},
  Year                     = {1983},
  Number                   = {2},
  Pages                    = {108--120},
  Volume                   = {100},
  Publisher                = {IEEE}
}