@conference {cowlagi2010multi,
	title = {Multi-resolution Path Planning: Theoretical Analysis, Efficient Implementation, and Extensions to Dynamic Environments},
	booktitle = {Decision and Control (CDC), 2010 49th IEEE Conference on},
	year = {2010},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Raghvendra V. Cowlagi and Panagiotis Tsiotras}
}