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11. 100%; open V Semanov, OTarlapan, S Morozov,K Kazakov, V Zolotov (2011) Global path planning in large-scale environments using metric and topological schemes, Proceedings of the 28th International Conference of CIB W78, Sophia Antipolis, France, 26-28 October http://itc.scix.net/cgi-bin/works/Show?w78-2011-Paper-36

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