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2008
Robot Algorithms, Tsianos K, Halperin D, Kavraki L, Latombe J, Attalah M , Algorithms and Theory of Computation Handbook, (2008)

1999
Robot Algorithms, Halperin D, Kavraki LE, Latombe J-C, Attalah M , Algorithms and Theory of Computation Handbook, Boca Raton, NY, (1999)