@inproceedings{CheLav01,
  author       = {P. Cheng and S. M. LaValle},
  title        = {Reducing Metric Sensitivity in Randomized Trajectory
                 Design},
  booktitle    = {Proceedings IEEE/RSJ International Conference on
                 Intelligent Robots and Systems},
  pages        = {43--48},
  year         = {2001}
}