@inproceedings{Karaman.ea:ICRA11,
   Author = {S. Karaman and M. Walter and A. Perez and E. Frazzoli and S. Teller},
   Booktitle = {{IEEE} International Conference on Robotics and Automation (ICRA)},
   Title = {Anytime Motion Planning using the RRT*},
   Year = {2011}}