A Robust Δ-Safe Hybrid Edge–Vertex–Cell Trajectory Planning Algorithm for Autonomous Navigation in Cancer Research Facilities: Integrating Clearance Preservation, Computational Efficiency, and Geometric Smoothness. Journal of Carcinogenesis, [S. l.], v. 24, n. 3, p. 415–429, 2025. DOI: 10.64149/J.Carcinog.24.3.415-429. Disponível em: https://carcinogenesis.com/index.php/JOC/article/view/813. Acesso em: 7 dec. 2025.