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In unknown environments, obstacles are avoided as they are detected by on-board sensors. This avoidance strategy is guaranteed to reach the goal regardless of the order in which the obstacles are avoided. The method is demonstrated in several examples for an omnidirectional point robot moving among planar polygonal obstacles.<\/jats:p>","DOI":"10.1177\/02783640022066987","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"480-497","source":"Crossref","is-referenced-by-count":24,"title":["Online Suboptimal Obstacle Avoidance"],"prefix":"10.1177","volume":"19","author":[{"given":"Zvi","family":"Shiller","sequence":"first","affiliation":[{"name":"Mechanical and Aerospace Engineering, University of California, Los                         Angeles, California 90095, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,5,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Armstrong, M. A. 1983. Basic Topology. 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