@article {12044,
	title = {Coordinated motion planning: the warehouseman{\textquoteright}s problem with constraints on free space},
	journal = {Systems, Man and Cybernetics, IEEE Transactions on},
	volume = {22},
	year = {1992},
	month = {1992///},
	pages = {130 - 141},
	author = {Sharma, R. and Aloimonos, J.}
}
