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Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

Kiril Solovey, Oren Salzman, Dan Halperin. Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning. I. J. Robotic Res., 35(5):501-513, 2016. [doi]

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