@article{funnellibrariesforrealtimerobust,
  title = {Funnel Libraries for Real-Time Robust Feedback Motion Planning},
  author = {Anirudha Majumdar and Russ Tedrake},
  year = {2016},
  eprint = {1601.04037},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1601.04037v3},
}