@inproceedings{JChoiEAmir07,
 author = {Choi, Jaesik and Amir, Eyal},
 title = {Factor-guided motion planning for a robot arm},
 booktitle = {IROS'07: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
 year = {2007},
 pages = {27--32},
 location = {San Diego, California, USA},
 publisher = {IEEE Press},
 address = {Piscataway, NJ, USA}
 }