@article{HHA_2012_14_1_a8,
     author = {Vitaliy Kurlin},
     title = {Computing braid groups of graphs with applications to robot motion planning},
     journal = {Homology, homotopy, and applications},
     pages = {159--180},
     publisher = {mathdoc},
     volume = {14},
     number = {1},
     year = {2012},
     doi = {10.4310/HHA.2012.v14.n1.a8},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.4310/HHA.2012.v14.n1.a8/}
}