@article {zelek2000local,
	title = {Local-global concurrent path planning and execution},
	journal = {IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans},
	volume = {30},
	number = {6},
	year = {2000},
	pages = {865{\textendash}870},
	publisher = {IEEE},
	author = {Zelek, John S and Levine, Martin D}
}
