Efficient C-space and cost function updates in 3D for unmanned aerial vehicles.

Sebastian Scherer Dave Ferguson Sanjiv Singh Efficient C-space and cost function updates in 3D for unmanned aerial vehicles. 2049-2054 2009 ICRA http://dx.doi.org/10.1109/ROBOT.2009.5152790 conf/icra/2009 db/conf/icra/icra2009.html#SchererFS09