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Theta*: Any-Angle Path Planning on Grids

Alex Nash, Kenny Daniel, Sven Koenig, Ariel Felner. Theta*: Any-Angle Path Planning on Grids. In Proceedings of the Twenty-Second AAAI Conference on Artificial Intelligence, July 22-26, 2007, Vancouver, British Columbia, Canada. pages 1177-1183, AAAI Press, 2007.

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