@conference {Perez.Karaman.ea:IROS11,
	title = {Asymptotically-optimal Path Planning for Manipulation using Incremental Sampling-based Algorithms},
	booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2011},
	author = {Gilberto Perez and Sertac Karaman and Walter and Shkolnik and Emilio Frazzoli and Teller}
}