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Du Toit, Noel Eduard (2010) Robot Motion Planning in Dynamic, Cluttered, and Uncertain Environments: the Partially Closed-Loop Receding Horizon Control Approach. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/SD3N-JR18. https://resolver.caltech.edu/CaltechTHESIS:02042010-152638957

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