@inproceedings{ Koga:1994:PMW,
  author = "Yoshihito Koga and Koichi Kondo and James J. Kuffner and Jean-Claude Latombe",
  title = "Planning Motions with Intentions",
  year = "1994",
  month = jul,
  booktitle = "Proceedings of SIGGRAPH 94",
  pages = "395--408",
}