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Zeng, Zheng; Lammas, Andrew; Sammut, Karl; He, Fangpo; Tang, Youhong . (2014). Shell space decomposition based path planning for AUVs operating in a variable environment. Ocean Engineering, 91(), 181–195. doi:10.1016/j.oceaneng.2014.09.001 
An interview with Sci-Hub Founder Alexandra Elbakyan,Who exactly should pay for academic research