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MR1931841 68U05 (68T40 70B15)
Streinu, Ileana A combinatorial approach to planar non-colliding robot arm motion planning. 41st Annual Symposium on Foundations of Computer Science (Redondo Beach, CA, 2000), 443–453, IEEE Comput. Soc. Press, Los Alamitos, CA, 2000.
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