PDF-UsingSk eletonsforNonholonomicP athPlanningamongObstacles BrianMirtic JohnCann ComputerScienceDivision Universit yofCalifo rnia Berk eley CA Abstract This p ap er describ es a pr actic al p ath plann
The planner is b ase d on building a onedimensional maximal cle ar anc e skeleton thr ough the c on gur ation sp ac e of the r ob ot However r ather than using the
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