Madhuri Karnik Bhaskar DasGupta Vinayak Eswaran A Comparative Study of Dirichlet and Neumann Conditions for Path Planning through Harmonic Functions. 442-451 2002 conf/iccS/2002-2 International Conference on Computational Science (2) http://link.springer.de/link/service/series/0558/bibs/2330/23300442.htm db/conf/iccS/iccS2002-2.html#KarnikDE02