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. Author manuscript; available in PMC: 2022 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2021 Mar 17;6(2):3987–3994. doi: 10.1109/lra.2021.3066962

Fig. 6.

Fig. 6.

At least one bronchoscope reachable sphere (blue) has to fulfill all 3 constraints visualized in (a)-(c) with respect to the current sample p (red). Otherwise, the sample does not contribute to finding a plan and is rejected.