Choset, Howie; et. al. <br/><br/>
Principles of Robot motion: Theory, algorithms, and implimentation 

 -   Prentice - Hall of India, Pvt. ltd., New Delh  2005 
 - 603 
<br/><br/><label>ISBN: </label>3221 
<br/><br/><label>Dewey Class. No.: </label>629.892  CHO-P