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Fast and Compute-Efficient Sampling-Based Local Exploration..:

Schmid, Lukas ; Ni, Chao ; Zhong, Yuliang..
IEEE Robotics and Automation Letters.  7 (2022)  3 - p. 7810-7817 , 2022
Link: https://doi.org/10.1109/lra.2022.3186511