@INPROCEEDINGS{Vahrenkamp2011,
  author = {Nikolaus Vahrenkamp and Peter Kaiser and Tamim Asfour and Rüdiger Dillmann},
  title = {{RDT+: A Parameter--free Algorithm for Exact Motion Planning}},
  booktitle = {International Conference on Robotics and Automation (ICRA 2011)},
  year = {2011},
  address = {Shanghai, China}
}