Ronen I. Brafman Jean-Claude Latombe Yoav Shoham Towards Knowledge-Level Analysis of Motion Planning. 670-675 1993 conf/aaai/1993 AAAI db/conf/aaai/aaai93.html#BrafmanLS93 http://www.aaai.org/Library/AAAI/1993/aaai93-100.php