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tangent bug non convex 2

tangent bug non convex 2

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tangent bug non convex fail 2

tangent bug non convex fail 2

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tangent bug convex 2

tangent bug convex 2

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Tangent Bug - No Solution 2

Tangent Bug - No Solution 2

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Tangent Bug - Solution Exists (Several Obstacles)

Tangent Bug - Solution Exists (Several Obstacles)

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Tangent Bug Running in Simulation

Tangent Bug Running in Simulation

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tangent bug non convex fail

tangent bug non convex fail

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Tangent Bug Algorithm 2

Tangent Bug Algorithm 2

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tangent bug algorithm - success

tangent bug algorithm - success

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