@article{Sim_on_2000,
title={Visibility-based probabilistic roadmaps for motion planning},
volume={14},
ISSN={1568-5535},
url={http://dx.doi.org/10.1163/156855300741960},
DOI={10.1163/156855300741960},
number={6},
journal={Advanced Robotics},
publisher={Informa UK Limited},
author={Siméon,
T. and Laumond,
J.-P. and Nissoux,
C.},
year={2000},
month=jan,
pages={477–493} }