Velocity potential approach to path planning for avoiding moving obstacles. - Sadao Akishita; Sadao Kawamura; Takashi Hisanobu (Adv. Robotics, 1992)

Fast path planning available for moving obstacle avoidance by use of Laplace potential. - Sadao Akishita; Takashi Hisanobu; Sadao Kawamura (IROS, 1993)