@INPROCEEDINGS{CowTsio:cdc07,
  author = {Cowlagi, R. and Tsiotras, P.},
  title = {Beyond Quadtrees: Cell Decomposition for Path Planning
	
	 using the Wavelet Transform},
  booktitle = {46th IEEE Conference on Decision and Control},
  year = {2007},
  pages = {1392--1397},
  address = {New Orleans, LA},
  month = {Dec.~12--14}
}