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MR747055
(86a:52016)
52A37
(51F99 70B15)
Schwartz, Jacob T.; Sharir, Micha On the piano movers' problem. III. Coordinating the motion of several independent bodies: the special case of circular bodies moving amidst polygonal barriers. Internat. J. Robotics Res. 2 (1983), no. 3, 46--75. |
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