Spatial Planning: A Configuration Space Approach. Lozano-Perez, T. IEEE Transactions on Computers, C-32:108–120, 1983. bibtex @article{Lozano-Perez:1983,
author = "Lozano-Perez, T.",
year = "1983",
title = "Spatial Planning: {A} Configuration Space Approach",
journal = "IEEE Transactions on Computers",
volume = "C-32",
_number = "2",
pages = "108--120"
}
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