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Salles V. G. Magalhães, Marcus V. A. Andrade, W. Randolph Franklin, and Wenli Li. Fast path planning under polygonal obstacle constraints. In 4th GIS-focused algorithm competition, GISCUP 2015, co-located with ACM SIGSPATIAL GIS. Bellevue WA USA, 4 Nov 2015. Winner (2nd place).
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