@misc {IOPORT.70323790,
    author       = {Mohy-Ud-Din, Hassan and Muhammad, Abubakr},
    title        = {Detecting narrow passages in configuration spaces via spectra of probabilistic roadmaps},
    howpublished = {SAC, 1294-1298 (2010).},
    year         = {2010},
    doi          = {10.1145/1774088.1774364},
    identifier   = {70323790},
}