@TECHREPORT{Jordan.Perez.ea:CSAIL13,
   AUTHOR = {M. Jordan and A. Perez},
   TITLE = {Optimal Bidirectional Rapidly-Exploring Random Trees},
   NUMBER = {MIT-CSAIL-TR-2013-021},
   INSTITUTION = {Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology},
   ADDRESS = {Cambridge, MA},
   MONTH = {August},
   YEAR = {2013},
   PAGES = {12},
   URL = {http://dspace.mit.edu/bitstream/handle/1721.1/79884/MIT-CSAIL-TR-2013-021.pdf}}