| The snake charmer's algorithm | Topology and robotics | | | 2007 | 603 | 0 |
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| Holonomy orbits of the snake charmer algorithm | Geometry and topology of manifolds : the mathematical legacy of Charles Ehresmann on the occasion of the hundredth anniversary of his birthday, Będlewo, Poland, May 8-15, 2005 |  | | 2007 | 554 | 246 |
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| L'algorithme du charmeur de serpents | | | | 2006 | 1,778 | 745 |
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| The space of clouds in an Euclidean space | Experimental mathematics | | | 2004 | 1,176 | 680 |
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