A Probabilistic Walk Path Model Focused On Foot Landing Points And Human Step Measurement System. - Takehiro Horiuchi; Masatomo Kanehara; Satoshi Kagami; Yoshihiro Ehara (SMC, 2006)

Path shortening and smoothing of grid-based path planning with consideration of obstacles. - Masatomo Kanehara; Satoshi Kagami; James J. Kuffner; Simon Thompson 002; Hiroshi Mizoguchi (SMC, 2007)