Maren Bennewitz Wolfram Burgard Sebastian Thrun Constraint-Based Optimization of Priority Schemes for Decoupled Path Planning Techniques. 78-93 2001 conf/ki/2001 KI/ÖGAI http://link.springer.de/link/service/series/0558/bibs/2174/21740078.htm db/conf/ki/ki2001.html#BennewitzBT01