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Edson Prestes e Silva Jr., Marcelo Trevisan, Marco Aurélio Pires Idiart, Paulo Martins Engel. BVP-exploration: further improvements. In 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003. pages 3239-3244, IEEE, 2003. [doi]

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