@misc{indiciaec1595a029801,
  title = {Trajectory Planning by Preserving Flexibility: Metrics and Analysis},
  author = {Idris, Husni R. and El-Wakil, Tarek and Wing, David J.},
  year = {2008},
  url = {https://ntrs.nasa.gov/citations/20080033130},
  note = {Source identifier: 20080033130}
}