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A minimum swept-volume metric structure for configuration s..:

, In: 2023 IEEE International Conference on Robotics and Automation (ICRA),
de Mont-Marin, Yann ; Ponce, Jean ; Laumond, Jean-Paul - p. 3686-3692 , 2023
Link: https://doi.org/10.1109/ICRA48891.2023.10161367