添加、删除、重命名或更新了区域或迭代路径节点。

Area or Iteration path nodes are added, removed, renamed or updated.

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采用RRT算法，通过随机搜索路径节点，得到可行姿态路径。

And the feasible path was obtained by using RRT algorithm to perform random search of path node.

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基于DTD, XML的树模型和路径表达式，对节点的值相等和路径节点集作了定义。

Based on DTD, tree model for XML and path expressions, definitions for node value equality and node set are given.

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