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. 2021 Feb 6;21(4):1152. doi: 10.3390/s21041152
Algorithm 3 PruneTree

Input:

q : State

O : Obstacles

  •     1:

    procedure PruneTree

  •     2:

        if Valid(q,O) then

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            for each q^∈qoffsprings do

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               PruneTree(q^,O)

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            end for

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        else

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            DeleteState(q)            ▹ Delete state q (and all offsprings recursively) from tree

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        end if

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    end procedure