@inproceedings{ChoiAmir_IROS07,
 author = {Choi, Jaesik and Amir, Eyal},
 title = {Factor-guided motion planning for a robot arm},
 booktitle = {2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-07)},
 year = {2007},
 pages = {27--32},
 publisher = {IEEE Press},
 address = {Piscataway, NJ, USA}
 }