@inproceedings{Grothe2022ICRA,
  title={ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time},
  author={Grothe, Francesco and Hartmann, Valentin N and Orthey, Andreas and Toussaint, Marc},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year={2022},
  pdf={https://arxiv.org/pdf/2203.02176.pdf}
}