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Choset, Howard Marc (1996) Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/49ee-a204. https://resolver.caltech.edu/CaltechETD:etd-12182007-090504

Otto, Kevin N. (1992) A formal representational theory for engineering design. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/tx29-f628. https://resolver.caltech.edu/CaltechETD:etd-08132007-134534

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