On-line collision avoidance between two robot manipulators using collision map and simple Escaping method. - Ahmad Yasser Afaghani; Yasumichi Aiyama (SII, 2013)

Advanced-collision-map-based on-line collision and deadlock avoidance between two robot manipulators with PTP commands. - Ahmad Yasser Afaghani; Yasumichi Aiyama (CASE, 2014)

On-Line Collision Avoidance of Two Command-Based Industrial Robotic Arms Using Advanced Collision Map. - Ahmad Yasser Afaghani; Yasumichi Aiyama (J. Robotics Mechatronics, 2014)

On-line collision detection of n-robot industrial manipulators using advanced collision map. - Ahmad Yasser Afaghani; Yasumichi Aiyama (ICAR, 2015)