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"On the General Motion-Planning Problem with Two Degrees of Freedom."
Leonidas J. Guibas, Micha Sharir, Shmuel Sifrony (1989)
- Leonidas J. Guibas, Micha Sharir, Shmuel Sifrony:
On the General Motion-Planning Problem with Two Degrees of Freedom. Discret. Comput. Geom. 4: 491-521 (1989)

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