Md Nasir Uddin Laskar Hoang Huu Viet Seung Yoon Choi Ishtiaq Ahmed Sungyoung Lee 0002 TaeChoong Chung Offsetting obstacles of any shape for robot motion planning. 865-883 2015 33 Robotica 4 https://doi.org/10.1017/S0263574714000630 db/journals/robotica/robotica33.html#LaskarVCALC15