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A general framework for sampling on the medial axis of the free space

Jyh-Ming Lien, Shawna L. Thomas, Nancy M. Amato. A general framework for sampling on the medial axis of the free space. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan. pages 4439-4444, IEEE, 2003.

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