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@INBOOK{,
     author = {Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier and Fern{\'{a}}ndez-Madrigal, Juan-Antonio},
      title = {Foundations of Parameterized Trajectories-based Space Transformations for Obstacle Avoidance},
     series = {Mobile Robots Motion Planning: New Challenges},
    chapter = {2},
       year = {2008},
  publisher = {I-Tech Education & Publishing},
       isbn = {978-3-902613-35-6},
        url = {http://www.intechopen.com/books/motion_planning/foundations_of_parameterized_trajectoriesbased_space_transformations_for_obstacle_avoidance},
        doi = {10.5772/6023}
}