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Using Multi-valued Distance Maps for Motion Planning on Surfaces with Moving Obstacles

Ron KimmelAlfred M. BrucksteinNahum Kiryati

出版	Technion-I.I.T., Department of Electrical Engineering, 1994
URL	http://books.google.com.hk/books?id=wtdFcgAACAAJ&hl=&source=gbs_api