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Study of the correctness of an existing implementation of a Local Planner based on the paper 'A Sampling-Based Partial Motion Planning Framework for System-Compliant Navigation along a Reference Path', its documentation and calibration of the parameters.

Verifica della correttezza della esistente implementazione di un Local Planner basato sull'articolo 'A Sampling-Based Partial Motion Planning Framework for System-Compliant Navigation along a Reference Path', sua documentazione e calibrazione dei parametri.