@inproceedings{CheSheLav00,
  author       = {P. Cheng and Z. Shen and S. M. LaValle},
  title        = {Using Randomization to Find and Optimize Feasible
                 Trajectories for Nonlinear Systems},
  booktitle    = {Proceedings Annual Allerton Conference on
                 Communications, Control, Computing},
  pages        = {926--935},
  year         = {2000}
}