Redundant Robotic Manipulator Path Planning for Real-Time Obstacle and Self-Collision Avoidance. - Tuomo Kivelä; Jouni Mattila; Jussi Puura; Sirpa Launis (RAAD, 2017)

Real-time distance query and collision avoidance for point clouds with heavy-duty redundant manipulator. - Tuomo Kivelä; Pauli Mustalahti; Jouni Mattila (CIS/RAM, 2017)

Increasing the Automation Level of Serial Robotic Manipulators with Optimal Design and Collision-free Path Control. - Tuomo Kivelä (2017)

Increasing the Task Flexibility of Heavy-Duty Manipulators Using Visual 6D Pose Estimation of Objects. - Petri Mäkinen; Pauli Mustalahti; Tuomo Kivelä; Jouni Mattila (CoRR, 2025)