A fast, on-line collision avoidance method for a kinematically redundant manipulator based on reflex control. - Thomas S. Wikman; Wyatt S. Newman (ICRA, 1992)

Reflexive Collision Avoidance: A Generalized Approach. - Thomas S. Wikman; Michael S. Branicky; Wyatt S. Newman (ICRA (3), 1993)