Koichi Kondo. Collision avoidance by free space enumeration based on heuristic graph search. Advanced Robotics, 5(3):293-308, 1990. [doi]
@article{Kondo90-0,
title = {Collision avoidance by free space enumeration based on heuristic graph search},
author = {Koichi Kondo},
year = {1990},
doi = {10.1163/156855391X00214},
url = {http://dx.doi.org/10.1163/156855391X00214},
tags = {rule-based, graph-rewriting, rewriting, search},
researchr = {https://researchr.org/publication/Kondo90-0},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {5},
number = {3},
pages = {293-308},
}