@CONFERENCE{LHT:cdc10,
  author = {Lu, Y. and Huo, X. and Tsiotras, P.},
  title = {Beamlet-like Data Processing for Accelerated Path-Planning Using
	Multiscale Information of the Environment},
  booktitle = {49th IEEE Conference on Decision and Control},
  year = {2010},
  pages = {3808--3813},
  address = {Atlanta, GA},
  month = {Dec.~15--17}
}