@inproceedings{saleem2021search,
  title={Search-based path planning for a high dimensional manipulator in cluttered environments using optimization-based primitives},
  author={Saleem, Muhammad Suhail and Sood, Raghav and Onodera, Sho and Arora, Rohit and Kanazawa, Hiroyuki and Likhachev, Maxim},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8301--8308},
  year={2021},
  organization={IEEE}
}