Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.12, No.3 pp. 277-283, 2008
 J. Kuffner, “Goal-Directed Navigation for Animated Characters Using Real-time Path Planning and Control,” Proc. of CAPTECH’98 Workshop on Modeling and Motion capture Techniques for Virtual Environments, Springer-Verlag, 1998.
 Z. Shiller, K. Yamane, and Y. Nakamura, “Planning Motion Patterns of Human Figures Using a Multi-Layered Grid and the Dynamics Filter,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation, pp. 1-8, 2001.
 T. Y. Li and P. Z. Huang, “Planning Humanoid Motions with Striding Ability in a Virtual Environment,” Proc. of the 2004 IEEE Int. Conf. on Robotics & Automation, pp. 3195-3200, 2004.
 E. D. Demaine, M. L. Demaine, and J. O’Rourke, “PushPush and Push-1 are NP-hard in 2D,” Proc. of the 12th Annual Canadian Conf. on Computational Geometry, pp. 211-219, 2000.
 M. Stilman and J. Kuffner, “Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments,” Proc. IEEE Int. Conf. on Humanoid Robotics (Humanoids’04), 2004.
 J. Schwartz and M. Sharir, “On the ‘piano movers’ problem II, General techniques for computing topological properties of real algebraic manifolds,” Advances in Applied Mathematics, 4, pp. 298-351, 1983.
 J. Latombe, “Robot Motion Planning,” Kluwer Academic Publishers, 1991.
 J. Barraquand, L. Kavraki, J. C. Latombe T. Y. Li, and P. Raghavan, “A Random Sampling Scheme for Path Planning,” Int. J. of Robotics Research, 16-6, pp. 759-774, 1997.
 T. Y. Li, P. F. Chen, and P. Z. Huang, “Motion Planning for Humanoid Walking in a Layered Environment,” Proc. of the 2003 Int. Conf. on Robotics and Automation, 2003.
 P. C. Chen and Y. K. Hwang, “Practical path planning among movable obstacles,” Proc. of IEEE Int. Conf. on Robotic Automation, pp. 444-449, 1991.
 G. Wilfong, “Motion Planning in the Presence of Movable Obstacles,” Proc. of ACM Symp. Computational Geometry, pp. 279-288, 1988.
 K. M. Lynch and M. T. Mason, “Stable pushing: Mechanics, controllability, and planning,” Int. Journal of Robotics Research, 15-6, pp. 533-556, 1996.
 R. C. Gonzale and R. E. Woods, “Digital Image Processing,” Second Edition, Prentice Hall, pp. 224-244, 1985.
 M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, “Computational Geometry: Algorithms and Applications,” Second Edition, Chapter 7: Voronoi Diagrams, 2000.