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Link to original content: https://dblp.uni-trier.de/rec/conf/icra/WedgeB11.xml
Nathan A. Wedge Michael S. Branicky Using path-length localized RRT-like search to solve challenging planning problems. 3713-3718 2011 ICRA https://doi.org/10.1109/ICRA.2011.5979804 conf/icra/2011 db/conf/icra/icra2011.html#WedgeB11