@incollection{fa-sp3sv-85,
    author = "Franklin, Wm Randolph and Akman, Varol",
    title = "Shortest Paths in 3-Space, {V}oronoi Diagrams with Barriers, and Related Complexity and Algebraic Issues",
    booktitle = "Proceedings of the {NATO} Advanced Study Institute on Fundamental Algorithms for Computer Graphics",
    address = "Ilkley, Yorkshire, England",
    month = "30 March -- 12 April",
    year = "1985",
    publisher = "Springer-Verlag",
    series = "{NATO} {ASI} Series F",
    volume = "17",
    pages = "895--917",
    fulltext = "https://wrfranklin.org/p/31-nato85-shortest.pdf",
    href = "\bibhref{31-nato85-shortest}",
    mykey = "akman pathplan",
    keywords = "motion planning"
}