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Mao, X. (1993):
Planung kollisionsfreier Bahnen für autonome Roboter mittels einer Freiraumdarstellung durch sichere Dreiecke.
VDI Fortschritt-Berichte Reihe 20 (73), VDI-Verlag, FG Regelsystemtheorie & Robotik, TH Darmstadt, [Ph.D. Thesis]

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