Hiroshi Noborio, Atsushi Hirata, and Yasuhiro Maeda: "Three of More Dimensional Digital Tangential Graph and Its Motion-Planning."Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS' 99), pp.1834-1841, Kyongju Kore
Hiroshi Noborio, Atsushi Hirata, and Yasuhiro Maeda: "Three of More Dimensional Digital Tangential Graph and Its Motion-Planning."Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS' 99), pp.1834-1841, Kyongju Kore
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Hiroshi Noborio、Atsushi Hirata 和 Yasuhiro Maeda：“三维数字切向图及其运动规划”。IEEE/RSJ 国际智能机器人和系统会议记录 (IROS 99)，第 1834-1841 页，
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