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@article{DBLP:journals/jfr/ConnollyG93,
  author       = {Christopher I. Connolly and
                  Roderic A. Grupen},
  title        = {The applications of harmonic functions to robotics},
  journal      = {J. Field Robotics},
  volume       = {10},
  number       = {7},
  pages        = {931--946},
  year         = {1993}
}
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