@inproceedings{ Lau:2006:PST,
  author = "Manfred Lau and James J. Kuffner",
  title = "Precomputed Search Trees: Planning for Interactive Goal-Driven Animation",
  year = "2006",
  month = sep,
  location = "Vienna, Austria",
  booktitle = "2006 ACM SIGGRAPH / Eurographics Symposium on Computer Animation",
  pages = "299--308",
}