Y. Yang and O. Brock. Adapting the sampling distribution in PRM planners based on an approximated medial axis. In Proc. IEEE Int. Conf. on Robotics & Automation, 2004.  Home/Search Document Details and Download
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Y. Yang and O. Brock, "Adapting the sampling distribution in PRM planners based on an approximated medial axis," in Proceedings of the 2004.
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