- Planning Under Topological Constraints Using Beam Graphs
Venkatraman Narayanan, Paul Vernaza, Maxim Likhachev , and Steven M. LaValle
2013 IEEE International Conference on Robotics and Automation (ICRA), May, 2013, pp. 431-437.
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- Efficiently finding optimal winding-constrained loops in the plane
Paul Vernaza, Venkatraman Narayanan, and Maxim Likhachev
Proceedings of Robotics: Science and Systems, July, 2012.
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