On finding narrow passages with probabilistic roadmap planners

D. Hsu, L.E. Kavraki, J.C. Latombe, R. Motwani, and S. Sorkin. On finding narrow passages with probabilistic roadmap planners. In P.K. Agarwal and others, editors, Robotics: The Algorithmic Perspective—Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR), pp. 141–154, A. K. Peters, Wellesley, MA, 1998.
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