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    English: A probabilistic random map algorithm for robot path planning finding feasible paths around a number of polygonal obstacles. This particular variant of the algorithm is uses "Ob-Maps" to add paths around each of the obstacles. See Jyh-Ming Lien and Yanyan LuPlanning, ``Motion in Environments with Similar Obstacles" Robotics: Science and Systems. 2009.
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    Author Eric O. Scott

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