Yu-Chi Chang, Mitul Saha, Friedrich Prinz, Jean-Claude Latombe, J. M. Pinilla. Medial Axis Transform assists path planning in configuration spaces with narrow passages. In 2004 International Workshop on Robot Sensing, ROSE 2004, Graz, Austria, 24-25 May, 2004. pages 85-93, IEEE, 2004. [doi]
Abstract is missing.