@inproceedings{gong18torus,
  title={Geometric motion planning for systems with toroidal and cylindrical shape spaces},
  author={Gong, Chaohui and Ren, Zhongqiang and Whitman, Julian and Grover, Jaskaran and Chong, Baxi and Choset, Howie},
  booktitle={Dynamic Systems and Control Conference},
  volume={51913},
  pages={V003T32A013},
  year={2018},
  organization={American Society of Mechanical Engineers}
}