Erion Plaku Kostas E. Bekris Lydia E. Kavraki OOPS for Motion Planning: An Online, Open-source, Programming System. 3711-3716 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364047 db/conf/icra/icra2007.html#PlakuBK07