@inproceedings{CheFraLav04,
  author       = {P. Cheng and E. Frazzoli and S. M. LaValle},
  title        = {Improving the Performance of Sampling-Based Planners
                 by Using a Symmetry-Exploiting Gap Reduction
                 Algorithm},
  booktitle    = {Proceedings IEEE International Conference on Robotics
                 and Automation},
  year         = {2004}
}