@conference {bib:Choi:10a, title = {Real-Time Obstacle Avoiding Path Planning for Mobile Robots}, booktitle = {Proceedings of the AIAA Guidance, Navigation and Control Conference, AIAA GNC 2010}, year = {2010}, address = {Toronto, Ontario, Canada}, author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim} }