@InProceedings{	  moll-kavraki2005:path-plann-variab-resol,
  abstract	= {We present a new approach to path planning for flexible
		  wires. We introduce a method for computing stable
		  configurations of a wire subject to manipulation
		  constraints. These configurations correspond to
		  minimal-energy curves. The representation is adaptive in
		  the sense that the number of parameters automatically
		  varies with the complexity of the underlying curve. We
		  introduce a planner that computes paths from one
		  minimal-energy curve to another such that all intermediate
		  curves are also minimal-energy curves. Using a simplified
		  model for obstacles, we can find minimal-energy curves of
		  fixed length that pass through specified tangents at given
		  control points. Our work has applications in motion
		  planning for surgical suturing and snake-like robots.},
  author	= {Mark Moll and Lydia E. Kavraki},
  booktitle	= icra-05,
  keywords	= {path planning, minimal-energy curves, subdivision},
  pages		= {2142--2147},
  title		= {Path Planning for Variable Resolution Minimal-Energy
		  Curves of Constant Length},
  url		= {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570428}
		  ,
  year		= 2005,
  bdsk-url-1	= {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570428}
}