Soo-Hyun Ryu, Yeonsik Kang, Sin-Jung Kim, Keon Yong Lee, Bum-Jae You, Nakju Lett Doh. Humanoid Path Planning From HRI Perspective: A Scalable Approach via Waypoints With a Time Index. IEEE T. Cybernetics, 43(1):217-229, 2013. [doi]
Abstract is missing.