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. Author manuscript; available in PMC: 2020 Nov 4.
Published in final edited form as: Rep U S. 2020 Jan 27;2019:1355–1362. doi: 10.1109/IROS40897.2019.8968575

Fig. 7.

Fig. 7.

From left to right: i) The percentage of total time saved as a function of error improvement. ii) A profile of runtime for the optimization both without and with the bound B used. iii) Fréchet as a function of time with and without B.