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Karaman, S., Walter, M.R., Perez, A., Frazzoli, E. and Teller, S. (2011) Anytime Motion Planning Using the RRT*. 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, 9-13 May 2011, 1478-1483.
https://doi.org/10.1109/ICRA.2011.5980479

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