Efficient Motion Planning for Problems Lacking Optimal Substructure. Salzman, O., Hou, B., , & Srinivasa, S. In International Conference on Automated Planning and Scheduling, 2017.
bibtex   
@inproceedings{salzman2017ramp,
  title = {Efficient Motion Planning for Problems Lacking Optimal Substructure},
  author = {Salzman, O. and Hou, B. and and Srinivasa, S.S.},
  booktitle = icaps,
  year = {2017}
}

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