@article{CheSheLav01,
  author       = {P. Cheng and Z. Shen and S. M. LaValle},
  title        = {{RRT}-Based Trajectory Design for Autonomous
                 Automobiles and Spacecraft},
  journal      = {Archives of Control Sciences},
  volume       = {11},
  number       = {3-4},
  pages        = {167--194},
  year         = {2001}
}