@inproceedings{hh-hmpct-02 
,author = "S. Hirsch and D. Halperin" 
,title  = "Hybrid motion planning: Coordinating two discs moving among polygonal obstacles in the plane" 
,booktitle  = "Proc. 5th Workshop on Algorithmic Foundations of Robotics (WAFR)" 
,address      = "Nice" 
,year         = 2002 
,pages =   "225--241" 
}