@inproceedings{ren17deformed,
  title={Deformed state lattice planning},
  author={Ren, Zhongqiang and Gong, Chaohui and Choset, Howie},
  booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={6307--6312},
  year={2017},
  organization={IEEE}
}