A Collision-Free Motion Planning for Two Robot Arms using Minimum Distance Functions. - Cheol Chang; Myung Jin Chung; Z. Zenn Bien (IROS, 1988)

Collision-free motion planning for two articulated robot arms using minimum distance functions. - Cheol Chang; Myung Jin Chung; Zeungnam Bien (Robotica, 1990)

Collision avoidance of two general robot manipulators by minimum delay time. - Cheol Chang; Myung Jin Chung; Bum Hee Lee (IEEE Trans. Syst. Man Cybern., 1994)