@article{Conn1997,
  title = {A counterexample to the Alexopoulos-Griffin path planning algorithm},
  journal = {Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on},
  volume = {27},
  number = {4},
  year = {1997},
  month = aug,
  pages = {721 {\textendash}723},
  keywords = {Alexopoulos-Griffin path planning algorithm, computational complexity, optimal algorithm, path planning, polygonal obstacles, VGRAPH algorithm},
  author = {Conn, Robert A. and Elenes, J. and Kam, Moshe}
}