Cornered Quadtrees/Octrees and Multiple Gateways Between Each Two Nodes A Structure for Path Planning in 2D and 3D Environments

Cornered Quadtrees/Octrees and Multiple Gateways Between Each Two Nodes A Structure for Path Planning in 2D and 3D Environments
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Journal
https://people.iut.ac.ir/en/palhang/content/1617205