@Article{	  moll2006path-planning-for-deformable-linear,
  abstract	= {We present a new approach to path planning for deformable
		  linear (one-dimensional) objects such as flexible wires. We
		  introduce a method for efficiently computing stable
		  configurations of a wire subject to manipulation
		  constraints. These configurations correspond to
		  minimal-energy curves. By restricting the planner to
		  minimal-energy curves, the execution of a path becomes
		  easier. Our curve 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. This planner can be used as a
		  powerful local planner in a sampling-based roadmap method.
		  This makes it possible to compute a roadmap of the entire
		  ``shape space,'' which is not possible with previous
		  approaches. 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 cable routing, and motion planning
		  for surgical suturing and snake-like robots.},
  author	= {Mark Moll and Lydia E. Kavraki},
  doi		= {10.1109/TRO.2006.878933},
  journal	= tro,
  month		= aug,
  number	= {4},
  pages		= {625--636},
  title		= {Path Planning for Deformable Linear Objects},
  volume	= {22},
  year		= {2006}
}