Ralf Schaufler, Christian H. Fedrowitz, Reiner Kammüller. A simplified criterion for repeatability and its application in constraint path planning problems. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000, October 30 - Novemver 5, 2000, Takamatsu, Japan. pages 2345-2350, IEEE, 2000. [doi]
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