Gianluca Antonelli Stefano Chiaverini Roberto Finotello Emanuele Morgavi Real-Time Path Planning and Obstacle Avoidance for an Autonomous Underwater Vehicle. 78-83 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-1.html#AntonelliCFM99 http://dx.doi.org/10.1109/ROBOT.1999.769934