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6 R. Geraerts, "Planning short paths with clearance using explicit corridors" 1997-2004, 2010
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8 D. Dolgov, "Path planning for autonomous vehicles in unknown semistructured environments" 29 (29): 485-501, 2010
9 R. Geraerts, "On improving the clearance for robots in high-dimensional configuration spaces" 4074-4079, 2005
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