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@article{fiorini1993, title = {Motion Planning in Dynamic Environments Using the Relative Velocity Paradigm}, author = {Paolo Fiorini and Zvi Shiller}, journal = {IEEE Int. Conf. of Automat. and Robotics}, publisher = {IEEE Int. Conf. of Automat. and Robotics}, pages = {550-566}, volume = {1}, year = {1993}}