@inproceedings{havur2014geometric,
  title={Geometric rearrangement of multiple movable objects on cluttered surfaces: A hybrid reasoning approach},
  author={Havur, Giray and Ozbilgin, Guchan and Erdem, Esra and Patoglu, Volkan},
  booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={445--452},
  year={2014},
  organization={IEEE}
}

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