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Routing in polygonal domains (Article)

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__    __     ___     __   _    _    _     _____     ______  
\ \\ / //   / _ \\  | || | || | || | ||  |__  //   /_   _// 
 \ \/ //   / //\ \\ | '--' || | || | ||    / //     -| ||-  
  \  //   |  ___  ||| .--. || | \\_/ ||   / //__    _| ||_  
   \//    |_||  |_|||_|| |_||  \____//   /_____||  /_____// 
    `     `-`   `-` `-`  `-`    `---`    `-----`   `-----`  
                                                            
 


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