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Laubach, S. L. and Burdick, J. W. (1999) A practical autonomous path planner for turn-of-the-century planetary microrovers. In: Mobile Robots XIII and Intelligent Transportation Systems. Proceedings of SPIE. No.3525. Society of Photo-optical Instrumentation Engineers (SPIE) , Bellingham, WA, pp. 182-191. ISBN 9780819429865. https://resolver.caltech.edu/CaltechAUTHORS:20181107-161118840

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