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CDT-Dijkstra: Fast Planning of Globally Optimal Paths for A..:

, In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Liu, Jinyuan ; Fu, Minglei ; Zhang, Wenan... - p. 2224-2231 , 2023
Link: https://doi.org/10.1109/IROS55552.2023.10341744