Motion Planning for a Rigid Body Using Random Networks on the Medial Axis of the Free Space. - Steven A. Wilmarth; Nancy M. Amato; Peter F. Stiller (SCG, 1999)

MAPRM: A Probabilistic Roadmap Planner with Sampling on the Medial Axis of the Free Space. - Steven A. Wilmarth; Nancy M. Amato; Peter F. Stiller (ICRA, 1999)