Motion planning amidst fat obstacles (extended abstract)
SCG '94 Proceedings of the tenth annual symposium on Computational geometry
Pianos are not flat: rigid motion planning in three dimensions
SODA '05 Proceedings of the sixteenth annual ACM-SIAM symposium on Discrete algorithms
A variational approach to path planning for hyper-redundant manipulators
Robotics and Autonomous Systems
Motion planning via manifold samples
ESA'11 Proceedings of the 19th European conference on Algorithms
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