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(1)Planification de chemins à courbure continue pour robot mobile non-holonome Alexis Scheuer. To cite this version: Alexis Scheuer. Planification de chemins à courbure continue pour robot mobile non-holonome. Interface homme-machine [cs.HC]. Institut National Polytechnique de Grenoble - INPG, 1998. Français. �tel-00001746�. HAL Id: tel-00001746 https://tel.archives-ouvertes.fr/tel-00001746 Submitted on 26 Sep 2002. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés..

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