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. Author manuscript; available in PMC: 2018 Feb 27.
Published in final edited form as: ACM Comput Surv. 2018 Jan 1;51(1):14. doi: 10.1145/3150225

Fig. 1.

Fig. 1

Generic, parameterized search strategies for peg-in-hole insertion include the walking stochastic search (A), the spiral search (B), and the raster search (C).