@inproceedings{Orthey2021ICRA,
    title={Sparse Multilevel Roadmaps for High-Dimensional
      Robot Motion Planning},
    author={Andreas Orthey and Marc Toussaint},
    booktitle = {IEEE International Conference on Robotics and Automation},
    year={2021},
    pdf={https://arxiv.org/pdf/2011.00832.pdf},
}