@inproceedings{ChoiAmir_ICRA09,
 author = {Choi, Jaesik and Amir, Eyal},
 title = {Combining planning and motion planning},
 booktitle = {Proceedings of the 2009 IEEE international conference on Robotics and Automation (ICRA-09)},
 year = {2009},
 isbn = {978-1-4244-2788-8},
 pages = {4374--4380},
 publisher = {IEEE Press},
 address = {Piscataway, NJ, USA}
 }