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Optimal sampling-based motion planning under differential constraints: The drift case with linear affine dynamics

Edward Schmerling, Lucas Janson, Marco Pavone. Optimal sampling-based motion planning under differential constraints: The drift case with linear affine dynamics. In 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, December 15-18, 2015. pages 2574-2581, IEEE, 2015. [doi]

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