@INPROCEEDINGS{Zhang09-ICRA,
  AUTHOR =       {L. Zhang and S. LaValle and D. Manocha},
  TITLE =        {Global Vector Field Computation for Feedback Motion Planning},
  BOOKTITLE =    {IEEE International Conference on Robotics and Automation (ICRA)},
  YEAR =         {2009},
  pages =        {to appear}
}