@misc{chen2020lidar,
  title={Lidar-based exploration and discretization for mobile robot planning},
  author={Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D},
  journal={arXiv preprint arXiv:2011.10066},
  year={2020},
  url = {http://ames.caltech.edu/chen2020lidar.pdf}
}



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