@InProceedings{JS-JG-ES-LJ-LM-MP:2015,
  author = {Starek, Joseph and Gomez, Javier and Schmerling, Edward
    Janson, Lucas and Moreno, Luis and Pavone, Marco},
  title = {An Asymptotically-Optimal Sampling-Based Algorithm for
    Bi-directional Motion Planning},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots
    and Systems},
  year = {2015},
  address = {Hamburg, Germany},
  month = {September},
  note = {To Appear}
}