%0 Journal Article %J Systems, Man and Cybernetics, IEEE Transactions on %D 1992 %T Coordinated motion planning: the warehouseman's problem with constraints on free space %A Sharma, R. %A Aloimonos, J. %B Systems, Man and Cybernetics, IEEE Transactions on %V 22 %P 130 - 141 %8 1992/// %G eng %N 1