Rodney A. Brooks, Tomás Lozano-Pérez. A subdivision algorithm in configuration space for findpath with rotation. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 15(2):224-233, 1985. [doi]
@article{BrooksL85-0,
title = {A subdivision algorithm in configuration space for findpath with rotation},
author = {Rodney A. Brooks and Tomás Lozano-Pérez},
year = {1985},
doi = {10.1109/TSMC.1985.6313352},
url = {http://dx.doi.org/10.1109/TSMC.1985.6313352},
researchr = {https://researchr.org/publication/BrooksL85-0},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part A},
volume = {15},
number = {2},
pages = {224-233},
}