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Several recent works have combined discrete and continuous motion planning methods for robot navigation and control. The basic idea of some of these works is to plan a path, by determining a sequence of neighboring discrete regions of the configuration space, and to assign a vector field that drives the robots through these regions. This paper addresses the problem of efficiently computing vector fields over a sequence of consecutive triangles. Differently from previous numerical approaches,doi:10.1109/robot.2007.363614 dblp:conf/icra/PimentaPM07 fatcat:4jwf7ykh3bcwzcq5obxxnlg77y