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Batty, David, Manes, Lupo 
ORCID: 0000-0002-5426-2925, West, Andrew, Patel, Maulik ORCID: 0000-0002-3214-5752, Caliskanelli, Ipek and Paoletti, Paolo ORCID: 0000-0001-6131-0377
(2023)
Occupancy Map Abstraction for Higher Level Mission Planning of Autonomous Robotic Exploration in Hazardous Nuclear Environments.
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