Varol Akman and W. Randolph Franklin. Partitioning the space to calculate shortest paths to any goal around polyhedral obstacles. In Proceedings of ROBEXS'85, the First Annual Workshop on Robotics and Expert Systems. NASA/Johnson Space Center, 27–28 June 1985.

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@inproceedings{akman-robexs-85,
    author = "Akman, Varol and Franklin, W. Randolph",
    title = "Partitioning the Space to Calculate Shortest Paths to any Goal Around Polyhedral Obstacles",
    booktitle = "Proceedings of ROBEXS'85, the First Annual Workshop on Robotics and Expert Systems",
    address = "NASA/Johnson Space Center",
    month = "27--28 June",
    year = "1985",
    href = "\bibhref{32-robexs85-shortest}",
    mykey = "pathplan akman"
}

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@inproceedings{akman-robexs-85,
    author = "Akman, Varol and Franklin, W. Randolph",
    title = "Partitioning the Space to Calculate Shortest Paths to any Goal Around Polyhedral Obstacles",
    booktitle = "Proceedings of ROBEXS'85, the First Annual Workshop on Robotics and Expert Systems",
    address = "NASA/Johnson Space Center",
    month = "27--28 June",
    year = "1985",
    href = "\bibhref{32-robexs85-shortest}",
    mykey = "pathplan akman"
}