Leo Dorst, Indur Mandhyan, Karen Trovato. The geometrical representation of path planning problems. Robotics and Autonomous Systems, 7(2-3):181-195, 1991. [doi]
@article{DorstMT91,
title = {The geometrical representation of path planning problems},
author = {Leo Dorst and Indur Mandhyan and Karen Trovato},
year = {1991},
doi = {10.1016/0921-8890(91)90041-I},
url = {http://dx.doi.org/10.1016/0921-8890(91)90041-I},
researchr = {https://researchr.org/publication/DorstMT91},
cites = {0},
citedby = {0},
journal = {Robotics and Autonomous Systems},
volume = {7},
number = {2-3},
pages = {181-195},
}