@incollection{hlm-dmks-97 
, author =  "D. Halperin and J.-C. Latombe and R. Motwani" 
, title =   "Dynamic Maintenance of Kinematic Structures" 
, editor =  "J. P. Laumond and M. Overmars" 
, booktitle =   "Robotic Motion and Manipulation" 
, publisher =   "A. K. Peters" 
, pages =   "155--170" 
, note =    "WAFR 2" 
, update =  "99.11 bibrelex, 98.11 halperin" 
}