The corridor map method: a general framework for real-time high-quality path planning.

Roland Geraerts Mark H. Overmars The corridor map method: a general framework for real-time high-quality path planning. 107-119 2007 18 Journal of Visualization and Computer Animation 2 http://dx.doi.org/10.1002/cav.166 db/journals/jvca/jvca18.html#GeraertsO07