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MR2276952 68T40 (55M30 68U05 70B15 70E60 93C85)
Farber, Michael Topology of robot motion planning. Morse theoretic methods in nonlinear analysis and in symplectic topology, 185–230, NATO Sci. Ser. II Math. Phys. Chem., 217, Springer, Dordrecht, 2006.
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