YaoG07'

@article{DBLP:journals/ras/YaoG07,
  author    = {Zhenwang Yao and
               Kamal Gupta},
  title     = {Path planning with general end-effector constraints},
  journal   = {Robotics and Autonomous Systems},
  volume    = {55},
  number    = {4},
  year      = {2007},
  pages     = {316-327},
  ee        = {http://dx.doi.org/10.1016/j.robot.2006.11.004},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}