Szukana fraza: [Abstract = "One assumes that the order in which the waypoints are visited is known \"a priori\". In such a case we show that the optimal path can be found by solving a mixed\-integer second\-order cone problem. The second version assumes that the order in which the waypoints are visited is not known \"a priori\", but can be optimized so as to shorten the length of the path. Two approaches to solve this problem are presented and evaluated with respect to computational complexity."]

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