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The cooperaTive ExploRation Routing Algorithm (TERRA) has been designed to solve the ECU-CSURP. For more information, please refer to the paper: Ropero, F., Muñoz, P., & R-Moreno, M. D. TERRA: A path planning algorithm for cooperative UGV–UAV exploration. Engineering Applications of Artificial Intelligence, 78, 260-272, 2019.
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