@Article{Hwang1992,
  Title                    = {A potential field approach to path planning},
  Author                   = {Y.K. Hwang and N. Ahuja},
  Journal                  = {IEEE Transactions on Robotics and Automation},
  Year                     = {1992},
  Month                    = {Feb.},
  Number                   = {1},
  Pages                    = {23-32},
  Volume                   = {8}
}

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