A General Framework for Assembly Planning: The Motion Space Approach.

Dan Halperin Jean-Claude Latombe Randall H. Wilson A General Framework for Assembly Planning: The Motion Space Approach. 9-18 1998 Symposium on Computational Geometry http://doi.acm.org/10.1145/276884.276886 db/conf/compgeom/compgeom98.html#HalperinLW98