Hanna Kurniawati David Hsu Workspace-Based Connectivity Oracle: An Adaptive Sampling Strategy for PRM Planning. 35-51 2006 WAFR http://dx.doi.org/10.1007/978-3-540-68405-3_3 conf/wafr/2006 db/conf/wafr/wafr2006.html#KurniawatiH06