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![RRT* algorithm adapted from [9]-in this paper the routines PenalizeNode ...](https://www.researchgate.net/profile/Cristiano-Premebida/publication/286109035/figure/fig1/AS:614301635194900@1523472331700/Functional-block-diagram-of-the-vehicles-navigation-system-with-the-dynamic-path_Q320.jpg)







![RRT* algorithm adapted from [9]-in this paper the routines PenalizeNode ...](https://www.researchgate.net/profile/Cristiano-Premebida/publication/286109035/figure/fig4/AS:668781936377860@1536461447301/RRT-algorithm-adapted-from-9-in-this-paper-the-routines-PenalizeNode-and.png)











