A Fast Motion-Planning Algorithm of Robot Manipulator Based on a Small Graph in the Implicit Configuration Space. - Hiroshi Noborio; Motohiko Watanabe (IAS, 1989)

An Efficient Path-Planning Algorithm for a Robotic Manipulator by Automatic Selection Search of Indispensable Regions in Its Configuration Space. - Hiroshi Noborio; Motohiko Watanabe; Takeshi Fujii (J. Robotics Mechatronics, 1992)