title = {Robot motion planning on N-dimensional star worlds among moving obstacles},
  journal = {Robotics and Automation, IEEE Transactions on},
  volume = {14},
  number = {2},
  year = {1998},
  month = apr,
  pages = {320-325},
  keywords = {computational complexity, continuous deformation, mobile robots, Motion planning, moving obstacles, multidimensional star worlds, navigation, Orbital robotics, path planning, point robot, Robot motion, robot motion planning, Shape, Space exploration, Space stations, star-shaped set, stationary-obstacle problem, topologically invariant space, Topology, translating nonrotating nonintersecting obstacles, vector field},
  issn = {1042-296X},
  doi = {10.1109/70.681250},
  author = {Conn, Robert A. and Kam, Moshe}