@article{wbh-phpc-08,
  author    = {Ron Wein and
               Jur P. van den Berg and
               Dan Halperin},
  title     = {Planning High-quality Paths and Corridors Amidst Obstacles},
  journal   = {International Journal on Robotics Research},
  volume    = {27},
  number    = {11-12},
  year      = {2008},
  pages     = {1213-1231},
  ee        = {http://dx.doi.org/10.1177/0278364908097213}
}