Search-based Path Planning with Homotopy Class Constraints in 3D,

S. Bhattacharya, M. Likhachev, and V. Kumar, “Search-based Path Planning with Homotopy Class Constraints in 3D,” in Invited paper for sub-area spotlights track on ‘Best-paper talks’, Proceedings of Twenty-Sixth Conference on Artificial Intelligence (AAAI-12), 2012.