T. M. Rao, Ronald C. Arkin. 3D Navigational Path Planning. Robotica, 8(3):195-205, 1990. [doi]
@article{RaoA90, title = {3D Navigational Path Planning}, author = {T. M. Rao and Ronald C. Arkin}, year = {1990}, doi = {10.1017/S0263574700000059}, url = {http://dx.doi.org/10.1017/S0263574700000059}, researchr = {https://researchr.org/publication/RaoA90}, cites = {0}, citedby = {0}, journal = {Robotica}, volume = {8}, number = {3}, pages = {195-205}, }