@article {DBLP:journals/tsmc/CowlagiT12,
	title = {Multiresolution Motion Planning for Autonomous Agents via Wavelet-Based Cell Decompositions},
	journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B},
	volume = {42},
	year = {2012},
	pages = {1455-1469},
	author = {Raghvendra V. Cowlagi and Panagiotis Tsiotras}
}