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Sampling-based motion planners are often used to solve very high-dimensional planning problems. Many recent algorithms use projections of the state space to estimate properties such as coverage, as it is impractical to compute and store this information in the original space. Such estimates help motion planners determine the regions of space that merit further exploration. In general, the employed projections are user-defined, and to the authors' knowledge, automatically computing them has notdoi:10.1109/iros.2009.5354403 dblp:conf/iros/SucanK09 fatcat:6vsvplkahnbqvnxc2nxxubtmw4