E. K. Wong, K. S. Fu. A hierarchical orthogonal space approach to three-dimensional path planning. IEEE Transactions on Robotics, 2(1):42-53, 1986. [doi]
@article{WongF86,
title = {A hierarchical orthogonal space approach to three-dimensional path planning},
author = {E. K. Wong and K. S. Fu},
year = {1986},
doi = {10.1109/JRA.1986.1087037},
url = {http://dx.doi.org/10.1109/JRA.1986.1087037},
researchr = {https://researchr.org/publication/WongF86},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {2},
number = {1},
pages = {42-53},
}