@inproceedings{STOC-1988-FortuneW,
	author        = "Steven Fortune and Gordon T. Wilfong",
	booktitle     = "{Proceedings of the 20th Annual ACM Symposium on Theory of Computing}",
	doi           = "10.1145/62212.62256",
	isbn          = "0-89791-264-0",
	pages         = "445--459",
	publisher     = "{ACM}",
	title         = "{Planning Constrained Motion}",
	year          = 1988,
}