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Route planning, which is used to calculate feasible routes in a given environment, is one of the key issues in navigation systems. According to different constraints in different given space, various route planning strategies have been developed in recent years. Current route planning models for indoor space focus on providing routes for pedestrians or fix-sized users, like robots and persons in wheelchairs. None of the existing model can provide feasible routes for arbitrary-shape users, which appears to be more and more useful in many situations, like users driving small indoor autos or moving carts with products.
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