@article{Gaschler2018a,
	author = {Andre Gaschler and Ronald P. A. Petrick and Oussama Khatib and Alois Knoll},
	title = {KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner},
	year = {2018},
	month = {Feb},
	volume = {61},
	pages = {323--362},
	doi = {10.1613/jair.5560},
	journal = {Journal of Artificial Intelligence Research}
}