References:
Y. Koga, K. Kondo, J. Kuffner, J.L. Latombe, Planning Motions with Intentions. Proceedings of SIGGRAPH 94, ACM SIGGRAPH, 1994, 395-408.
James Kuffner's page about the above paper. Contains videos.
Goldenstein, S., Large, E., and Metaxas, D. Dynamic Autonomous Agents: Game Applications. Computer Animation, 1998.
O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, Better Group Behaviors using Global Roadmaps. Proceedings of the 8th International Conference on the Simulation and Synthesis of Living Systems (Alife’02), December 2002, pp. 362-370.
Page about the above paper at the Parasol Lab at Texam A&M. Contains videos.