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Micro aerial vehicles operating outdoors must be able to maneuver through both dense vegetation and across empty fields. Existing approaches do not exploit the nature of such an environment. We have designed an algorithm which plans rapidly through free space and is efficiently guided around obstacles. In this paper we present SPARTAN (Sparse Tangential Network) as an approach to create a sparsely connected graph across a tangential surface around obstacles. We find that SPARTAN can navigate adoi:10.1109/icra.2013.6630967 dblp:conf/icra/CoverCSS13 fatcat:czaxeylsmjgipbiws6nsjpezqm