Howie Choset, Marco Morales, Todd D. Murphey: Algorithmic Foundation of Robotics VIII, Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics, WAFR 2008, Guanajuato, Mexico, December 7-9, 2008. Springer Tracts in Advanced Robotics 57, Springer 2009, ISBN 978-3-642-00311-0