@INPROCEEDINGS{Allen19,
  author={Cheng, Allen and Saxena, Dhruv Mauria and Likhachev, Maxim},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Bidirectional Heuristic Search for Motion Planning with an Extend Operator},
  year={2019},
  volume={},
  number={},
  pages={7425-7430},
  doi={10.1109/IROS40897.2019.8967796}
}