@inproceedings{perez11,
   Title = {Asymptotically-optimal Path Planning for Manipulation using Incremental Sampling-based Algorithms},
   Author = {Perez, A. and Karaman, S. and Shkolnik, A. and Frazzoli, E. and Teller, S. and Walter, M.R.},
   Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   Pages = {4307--4313},
   Address = {San Francisco, CA},
   Month = {September},
   Year = {2011}}