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On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations

István Harmati, Béla Lantos, Shahram Payandeh. On Fitted Stratified and Semi-Stratified Geometric Manipulation Planning with Fingertip Relocations. I. J. Robotic Res., 21(5-6):489-510, 2002.

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