@Article{Gonzalez-Sieira18_ras,
  author = 	 {A. Gonz\'{a}lez-Sieira and M. Mucientes and A. Bugar\'{\i}n},
  title = 	 {Motion Planning under Uncertainty in Graduated Fidelity Lattices},
  journal = 	 {Robotics and Autonomous Systems},
  year = 	 {2018},
  volume = 	 {109},
  pages = 	 {168-182}
}