@article {DBLP:journals/trob/SunHJKR05,
	title = {Narrow passage sampling for probabilistic roadmap planning},
	journal = {IEEE Transations on Robotics},
	volume = {21},
	number = {6},
	year = {2005},
	pages = {1105{\textendash}1115},
	doi = {10.1109/TRO.2005.853485},
	url = {https://doi.org/10.1109/TRO.2005.853485},
	author = {Zheng Sun and David Hsu and Tingting Jiang and Hanna Kurniawati and John H. Reif}
}
