@incollection{wolek2017model,
  title={Model-based path planning},
  author={Wolek, Artur and Woolsey, Craig A},
  booktitle={Lecture Notes in Control and Information Sciences},
  pages={183--206},
  year={2017},
  publisher={Springer International Publishing},
  doi={10.1007/978-3-319-55372-6_9}
}