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(A Reachability-based planner for sequences of acyclic contacts in cluttered environments)
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<< /S /GoTo /D (section*.1) >>
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(S. Tonneau, N. Mansard, C. Park, D. Manocha, F. Multon, J. Pettr\351)
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<< /S /GoTo /D (section.0.1) >>
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(Introduction)
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<< /S /GoTo /D (subsection.0.1.1) >>
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(State of the art)
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<< /S /GoTo /D (subsection.0.1.2) >>
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(Paper contribution and organization)
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<< /S /GoTo /D (subsection.0.1.3) >>
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(Computation of a guide trajectory)
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<< /S /GoTo /D (subsection.0.1.4) >>
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(Generating a discrete sequence of contact configurations)
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<< /S /GoTo /D (subsection.0.1.5) >>
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(Notation conventions and definitions)
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<< /S /GoTo /D (section.0.2) >>
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(Computation of a guide trajectory in Creach \(Stage 1\))
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<< /S /GoTo /D (subsection.0.2.1) >>
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(Conditions for true feasibility)
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<< /S /GoTo /D (subsection.0.2.2) >>
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(Reachability: a compromise condition)
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<< /S /GoTo /D (subsection.0.2.3) >>
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(Computing the guide trajectory in Creachs with RB-PRM.)
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<< /S /GoTo /D (section.0.3) >>
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(From a guide trajectory to a discrete sequence of contact configurations \(Stage 2\))
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<< /S /GoTo /D (subsection.0.3.1) >>
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(Extension of the guide trajectory)
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<< /S /GoTo /D (subsection.0.3.2) >>
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(Contribution to the global movement: the EFORT criteria)
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<< /S /GoTo /D (section.0.4) >>
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(Results)
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<< /S /GoTo /D (subsection.0.4.1) >>
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(Robot models and scenarios)
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<< /S /GoTo /D (subsection.0.4.2) >>
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(Parametrization of the reachability condition)
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<< /S /GoTo /D (subsection.0.4.3) >>
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(Performance)
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<< /S /GoTo /D (section.0.5) >>
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(Discussion and future work)
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<< /S /GoTo /D (section*.4) >>
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(References)
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