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Rosen Diankov, Nathan D. Ratliff, Dave Ferguson, Siddhartha S. Srinivasa, James Kuffner. BiSpace Planning: Concurrent Multi-Space Exploration. In Oliver Brock, Jeff Trinkle, Fabio Ramos, editors, Robotics: Science and Systems IV, Eidgenössische Technische Hochschule Zürich, Zurich, Switzerland, June 25-28, 2008. The MIT Press, 2008. [doi]

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