Elastic bands: Connecting path planning and control. Quinlan, S. & Khatib, O. In ICRA-93, 1993.
bibtex   
@inproceedings{quinlan1993elastic,
  title={Elastic bands: Connecting path planning and control},
  author={Quinlan, Sean and Khatib, Oussama},
  booktitle=icra93,
  _pages={802--807},
  year={1993},
  _organization={IEEE}
}

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