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Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
ICRA, no. 1 (2000): 2270-2277
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摘要
Exact cellular decompositions are structures thatglobally encode the topology of a robot's free space,while locally describing the free space's geometry. Thesestructures have been widely used for path planning betweentwo points, but can be used for mapping andcoverage of robot free spaces. In this paper, we defineexact cellular decomposi...更多
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