@inproceedings{CASE-2008-XuDAG,
	author        = "Jijie Xu and Vincent Duindam and Ron Alterovitz and Ken Goldberg",
	booktitle     = "{Proceedings of the Fourth International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2008.4626486",
	isbn          = "978-1-4244-2022-3",
	pages         = "41--46",
	publisher     = "{IEEE}",
	title         = "{Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining}",
	year          = 2008,
}