@inproceedings{ToLaMu03b,
  author={B. Tovar and S.M. LaValle and R. Murrieta-Cid},
  title={Locally-Optimal Navigation in Multiply-Connected Environments},
  booktitle={Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={3491-3497},
  year={2003}}