Obstacle Avoidance for Human-Centric Environments Using a Modified Artificial Potential Field - Probabilistic Roadmaps Based Planner. - Sai Teja Narendula; Akhil Bandamidapalli; Gokula Vishnu Kirti Damodaran; Prabhu Rajagopal (J. Intell. Robotic Syst., 2026)