@inproceedings{wbh-phqpc-08} 
, author =  " Ron Wein, Jur van den Berg and Dan Halperin" 
title =   "Planning High-Quality Paths and Corridors amidst Obstacles" 
, booktitle =   " Algorithmic Foundations of Robotics VII" 
, year =    2008 
, pages =   "491-506" 
, cites =   "" 
, update =  "2008" 
}