Stratified Deformation Space and Path Planning for a Planar Closed Chain with Revolute Joints. - Li Han; Lee Rudolph; Jonathon Blumenthal; Ihar Valodzin (WAFR, 2006)

Convexly Stratified Deformation Spaces and Efficient Path Planning for Planar Closed Chains with Revolute Joints. - Li Han; Lee Rudolph; Jonathon Blumenthal; Ihar Valodzin (Int. J. Robotics Res., 2008)