@inproceedings{nrh-sda-10,
  author    = {Oren Nechushtan and
               Barak Raveh and
               Dan Halperin},
  title     = {Sampling-Diagram Automata: A Tool for Analyzing Path Quality
               in Tree Planners},
  booktitle = {WAFR},
  year      = {2010},
  pages     = {285-301},
  ee        = {http://dx.doi.org/10.1007/978-3-642-17452-0_17}
}