@inproceedings{shkolnik09,
   Title = {Reachability Guided Sampling for Planning Under Differential Constraints},
   Author = {Shkolnik, A. and Walter, M. and Tedrake, R.},
   Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
   Pages = {2859--2895},
   Address = {Kobe, Japan},
   Month = {May},
   Year = {2009}}