A Local-Based Method for Manipulators Path Planning in Heavy Cluttered Environments. - C. Helguera; Saïd Zeghloul (ICRA, 2000)

A local-based method for manipulators path planning, using sub-goals resulting from a local graph. - Saïd Zeghloul; C. Helguera; Gabriel Ramírez (Robotica, 2006)