@inproceedings{Chung2015variable,
  author={Chung, Jen Jen and Lawrance, Nicholas R. J. and Gan, Seng Keat and Xu, Zhe and Fitch, Robert and Sukkarieh, Salah},
  title={Variable density PRM waypoint generation and connection radii for energy-efficient flight through wind fields},
  booktitle={Proceedings of the ICRA 2015 Workshop Beyond Geometric Constraints: Planning for Solving Complex Tasks, Reducing Uncertainty, and Generating Informative Paths \& Policies},
  year={2015},
  URL={http://people.csail.mit.edu/jingjin/ICRA15/A-04.pdf}
}