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Determining the path search graph and finding a collision-free path by the modified A:::*::: algorithm for a 5-link closed chain

Qing Xue, Yue-Ping Chien. Determining the path search graph and finding a collision-free path by the modified A:::*::: algorithm for a 5-link closed chain. Applied Artificial Intelligence, 9(2):235-255, 1995.

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