@article{LJ-ES-AC-MP:2015,
author = {Janson, Lucas and Schmerling, Edward and Clark, Ashley and Pavone, Marco}, 
title = {Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions},
volume = {34}, 
number = {7}, 
pages = {883-921}, 
year = {2015}, 
doi = {10.1177/0278364915577958}, 
URL = {http://ijr.sagepub.com/content/34/7/883.abstract}, 
eprint = {http://ijr.sagepub.com/content/34/7/883.full.pdf+html}, 
journal = {The International Journal of Robotics Research} 
}