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    • Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware 

      Lengyel, Jed; Reichert, Mark; Donald, Bruce Randall; Greenberg, Donald P. (Cornell University, 1990-05)
      We present a real-time robot motion planner that is fast and complete to a resolution. The technique is guaranteed to find a path if one exists at the resolution, and all paths returned are safe. The planner can handle ...