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    author
    Jacob T. Schwartz
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    publication date
    1987
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    zbMATH DE Number
    4108220
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    zbMATH Keywords
    geometric algorithms
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    robotics
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    motion planning
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    computational geomety
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    projection method
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    retraction method
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    intersection delection
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    generalized Voronoi diagrams
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    Davenport-Schinzel sequences
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