T. Santos, L. Souza, L. JĂșnior, G. Cardoso, and J. Filho. " Application of the Rapidly-exploring Random Trees star algorithm to automatic trajectory planning for a Non-Holonomic robot", in Proceedings of the 18th Regional School of Computing Bahia, Alagoas, and Sergipe, Aracaju, 2018, pp. 318-327.