The following publications are possibly variants of this publication:
- Provably Good Approximation Algorithms for Optimal Kinodynamic Planning for Cartesian Robots and Open-Chain ManipulatorsBruce Randall Donald, Patrick G. Xavier. algorithmica, 14(6):480-530, 1995.
- Provably-Good Approximation Algorithms For Optimal Kinodynamic Robot Motion PlansPatrick Xavier. PhD thesis, Cornell University, USA, 1992.
- Provably Good Approximation Algorithms for Optimal Kinodynamic Planning: Robots with Decoupled Dynamics BoundsBruce Randall Donald, Patrick G. Xavier. algorithmica, 14(6):443-479, 1995.
- A provably good approximation algorithm for optimal-time trajectory planningBruce Donald, Patrick Xavier. icra 1989: 958-963 [doi]