Path shortening and smoothing of grid-based path planning with consideration of obstacles.

Masatomo Kanehara Satoshi Kagami James J. Kuffner Simon Thompson 0002 Hiroshi Mizoguchi Path shortening and smoothing of grid-based path planning with consideration of obstacles. 991-996 2007 SMC https://doi.org/10.1109/ICSMC.2007.4414077 conf/smc/2007 db/conf/smc/smc2007.html#KaneharaKKTM07