Christopher I. Connolly, Roderic A. Grupen. The applications of harmonic functions to robotics. J. Field Robotics, 10(7):931-946, 1993. [doi]
@article{ConnollyG93,
title = {The applications of harmonic functions to robotics},
author = {Christopher I. Connolly and Roderic A. Grupen},
year = {1993},
doi = {10.1002/rob.4620100704},
url = {http://dx.doi.org/10.1002/rob.4620100704},
researchr = {https://researchr.org/publication/ConnollyG93},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {10},
number = {7},
pages = {931-946},
}