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<use_wall_avoidance>true</use_wall_avoidance>```
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![](![Screen_Shot_2018-09-04_at_13.44.10](/uploads/493cc4d1751547da674efec5c017fb2b/Screen_Shot_2018-09-04_at_13.44.10.png))
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![Screen_Shot_2018-09-04_at_13.44.10](/uploads/cb5b830a176c97b06ddbbe72e09140c0/Screen_Shot_2018-09-04_at_13.44.10.png)
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* 6: This strategy does use a floor field rather than heading towards a point on a line segment.
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For more details see this talk [^talk_arne] and the corresponding thesis [^thesis_arne].
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