Mitul Saha Pekka Isto Jean-Claude Latombe Motion Planning for Robotic Manipulation of Deformable Linear Objects. 23-32 2006 ISER http://dx.doi.org/10.1007/978-3-540-77457-0_3 conf/iser/2006 db/conf/iser/iser2006.html#SahaIL06