Nikos I. Katevas, Spyros G. Tzafestas, Christos G. Pnevmatikatos. The Approximate Cell Decomposition with Local Node Refinement Global Path Planning Method: Path Nodes Refinement and Curve Parametric Interpolation. Journal of Intelligent and Robotic Systems, 22(3-4):289-314, 1998. [doi]
Abstract is missing.