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Leo Dorst, Indur Mandhyan, Karen Trovato. The geometrical representation of path planning problems. Robotics and Autonomous Systems, 7(2-3):181-195, 1991. [doi]
Possibly Related PublicationsThe following publications are possibly variants of this publication: The Geometrical Structure of Path Planning ProblemsLeo Dorst, Indur Mandhyan, Karen Trovato. IEEEias 1989: 155-167
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