Books:

• M. deBerg et al, Computational Geometry: algorithms and applications, Springer Verlag, 1997 pgs. 265-287 305-315.
• J. O'Rourke, Computational geometry in C, Second Edition, Cambridge University Press, 1998 pgs. 294-311.

Journals:

• "An Effective Algorithm for Finding a Collision-Free Path Among Polyhedral Obstacles", Li-Chen Fu and Dong-Yueh Liu, Journal of Robotic Systems vol. 7 1990 pgs. 129-137

• "Motion Planning in an Unknown Polygonal Environment with Bounded Performance Guarantee", Amitava Datta and Subbiah Soundaralakashmi, Proceedings of the 1999 IEEE International Conference on Robotics & Automation Vol.2 1999

• "The Complexity of the Free Space for a Robot Moving Amidst Fat Obstacles", A. Frank van der Stappen & Dan Halperin & Mark H. Overmars, Computational Geometry: Theory and Applications Vol. 3 1993

• "Motion Planning of Legged Robots: The Spider Robot Problem", Jean-Daniel Boissonnat & Oliver Devillers & Leonbattista Donati, International Journal of Computational Geometry & Applications Vol. 5 1995

• "Motion Planning in Environments with Low Obstacle Density", Department of Computer Science, Utrecht University, A. Frank van der Stappen & Mark H. Overmars

• "A Probabilistic Learning Approach to Motion Planning", Dept. of Computer Science, Utrecht University, Mark H. Overmars, Petr Svestka