Greetha Ramanathan, Vangalur S. Alagar. Algorithmic motion planning in robotics: Coordinated motion of several disks amidst polygonal obstacles. In Proceedings of the 1985 IEEE International Conference on Robotics and Automation, St. Louis, Missouri, USA, March 25-28, 1985. pages 514-522, IEEE, 1985. [doi]
Abstract is missing.