@InProceedings{kumagai:iros:2022,
  author    = {Kumagai, Iori and Murooka, Masaki and Morisawa, Mitsuharu and Kanehiro, Fumio},
  title     = {Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2022},
  address   = {Kyoto, Japan},
  month     = {September 24-September 27},
  url       = {https://ieeexplore.ieee.org/document/9981906},
  doi       = {10.1109/IROS47612.2022.9981906}
}