A Probabilistic Roadmap Approach for Systems with Closed Kinematic Chains. - Steven M. LaValle; Jeffery H. Yakey; Lydia E. Kavraki (ICRA, 1999)

Randomized path planning for linkages with closed kinematic chains. - Jeffery H. Yakey; Steven M. LaValle; Lydia E. Kavraki (IEEE Trans. Robotics Autom., 2001)