@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} }