@article {citeulike:9543669,
	title = {Optimal kinodynamic motion planning using incremental sampling based methods},
	year = {2010},
	keywords = {rrt},
	url = {http://sertac.scripts.mit.edu/web/wp-content/papercite-data/pdf/karaman.frazzoli-cdc10.pdf},
	author = {Sertac Karaman and Emilio Frazzoli}
}