Firstly a formal description of the problem is proposed, and then the problem is transformed into one kind of equivalent form about polygon motion planning.
给出了此问题的形式化描述，并将问题归约为一种关于多边形运动规划的等价形式。
Firstly a formal description of the problem is proposed, and then the problem is transformed into one kind of equivalent form about polygon motion planning.
给出了此问题的形式化描述，并将问题归约为一种关于多边形运动规划的等价形式。
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