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Halperin D, Kavraki LE, Latombe J-C, Attalah M.  1999.  Robot Algorithms. Algorithms and Theory of Computation Handbook.
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Tsianos K, Halperin D, Kavraki LE, Latombe J-C, Attalah M.  2008.  Robot Algorithms. Algorithms and Theory of Computation Handbook.