Obstacle Avoidance for Redundant Manipulators Using Directional-Collidability/ Temporal-Collidability Measure. - Su Il Choi; Byung Kook Kim (J. Intell. Robotic Syst., 2000)

Obstacle avoidance control for redundant manipulators using collidability measure. - Su Il Choi; Byung Kook Kim (Robotica, 2000)