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Efficient path planning has an utmost importance in the domain of autonomous navigation. Even though shortest path planning has been well discussed in the past, the same techniques might not always be used to find the fastest path in outdoor environments due to the inability of mobile agents to travel at their peak speed everywhere in irregular terrains. Mobility maps are an effective way for dealing with such irregularities. In this paper, we first introduce a grid-based mobility maps fordoi:10.1109/wowmom.2017.7974356 dblp:conf/wowmom/YuanGCQL17 fatcat:qfm2cbw6yzbibeahldal6htgqa