@article{KYB_1978_14_3_a0,
     author = {Havel, Ivan M. and Kramosil, Ivan},
     title = {A stochastic approach to robot plan formation},
     journal = {Kybernetika},
     pages = {143--173},
     year = {1978},
     volume = {14},
     number = {3},
     mrnumber = {506646},
     zbl = {0388.68084},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_1978_14_3_a0/}
}