@inproceedings{Perez.ea:ICRA12,
   Author = {A. Perez and R. Platt and G. Konidaris and L. Kaelbling and T. Lozano-Perez},
   Booktitle = {{IEEE} International Conference on Robotics and Automation (ICRA)},
   Title = {LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics},
   Year = {2012}}