Broad, Alexander, and Brenna Argall. “Path Planning under Interface-Based Constraints for Assistive Robotics”. Proceedings of the International Conference on Automated Planning and Scheduling 26, no. 1 (March 30, 2016): 450–458. Accessed May 26, 2026. https://ojs.aaai.org/index.php/ICAPS/article/view/13791.