@article{escidoc:3364846,
  title = {Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning},
  journal = {IEEE Transactions on Robotics},
  volume = {37},
  number = {6},
  pages = {1891--1905},
  month = dec,
  year = {2021},
  author = {Orthey, Andreas and Toussaint, Marc},
  doi = {10.1109/TRO.2021.3070975},
  month_numeric = {12}
}