@article{Knepper2018, author = "Ross A Knepper", title = "{On the Fundamental Relationships Among Path Planning Alternatives}", year = "2018", month = "7", url = "https://kilthub.cmu.edu/articles/thesis/On_the_Fundamental_Relationships_Among_Path_Planning_Alternatives/6720917", doi = "10.1184/R1/6720917" }