Ron Kimmel, Nahum Kiryati, Alfred M. Bruckstein. Using multi-layer distance maps for motion planning on surfaces with moving obstacles. In 12th IAPR International Conference on Pattern Recognition, Conference A: Computer Vision & Image Processing, ICPR 1994, Jerusalem, Israel, 9-13 October, 1994, Volume 1. pages 367-372, IEEE, 1994. [doi]
Abstract is missing.