Gokul Varadhan Dinesh Manocha Star-shaped Roadmaps - A Deterministic Sampling Approach for Complete Motion Planning. 25-32 2005 conf/rss/2005 Robotics: Science and Systems http://www.roboticsproceedings.org/rss01/p04.html db/conf/rss/rss2005.html#VaradhanM05