@ARTICLE{9146666,
  author={Sintov, Avishai and Macenski, Steven and Borum, Andy and Bretl, Timothy},
  journal={IEEE Robotics and Automation Letters}, 
  title={Motion Planning for Dual-Arm Manipulation of Elastic Rods}, 
  year={2020},
  volume={5},
  number={4},
  pages={6065-6072},
  doi={10.1109/LRA.2020.3011352}}