@inproceedings{karaman11,
   Title = {Anytime Motion Planning using the RRT$^*$},
   Author = {Karaman, S. and Walter, M.R. and Perez, A. and Frazzoli, E. and Teller, S.},
   Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
   Month = {May},
   Year = {2011}}