Optimal sweeping paths on a 2-manifold: a new class of optimization problems defined by path structures

@article{Kim2003OptimalSP,
  title={Optimal sweeping paths on a 2-manifold: a new class of optimization problems defined by path structures},
  author={Taejung Kim and Sanjay E. Sarma},
  journal={IEEE Trans. Robotics and Automation},
  year={2003},
  volume={19},
  pages={613-636}
}

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