Planning, Geometry and Complexity of Robot Motion. Schwartz, J. T., Scharir, M., & Hopcroft, J. Ablex, 1987.
bibtex   
@book{Schwartz87a,
	author = {Schwartz, J. T. and Scharir, M. and Hopcroft, J.},
	title = {Planning, Geometry and Complexity of Robot Motion},
	publisher = ablex,
	year = {1987},
	_address = {Norwood, NJ}
}

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