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Auburn Hills, MI (Sports Network) - Tayshaun Prince scored 20 points and hit the go-ahead free throws with 10.9 seconds left as the Detroit Pistons edged the Milwaukee Bucks, 96-94, at the Palace of Auburn Hills.

Greg Monroe posted 14 points and 10 rebounds and Jason Maxiell also recorded a double-double for Detroit, which squandered an 11-point advantage with 5 1/2 minutes left before rallying down the stretch for its fourth win in the last five games.

Maxiell finished with 10 points and 10 boards.

Milwaukee took its first lead of the night on Monta Ellis' jumper with 1:06 left to play, but Prince answered with a successful hook shot to tie the game at 94-94 before drawing a late foul and making both bonus attempts for the difference.

Ellis poured in 30 points while dishing out nine assists in Milwaukee's setback, which halted a two-game win streak that included a victory over reigning world champion Miami on Saturday. Ersan Ilyasova added 24 points on 9-of-12 shooting, with 17 of his total coming in the second half.

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