@incollection{akman-barcelona-86,
    author = "Akman, Varol and Franklin, W. Randolph",
    title = "Locus Techniques for Shortest Path Problems in Robotics",
    booktitle = "IFAC Symposium on Robot Control (SYSROCO'85)",
    address = "Barcelona",
    year = "1986",
    href = "\bibhref{35-sysroco85-locus}",
    mykey = "akman pathplan"
}