Trajectory planning for coordinately operating robots. - Yue-Ping Chien; Qing Xue (Artif. Intell. Eng. Des. Anal. Manuf., 1990)

Determining the path search graph and finding a collision-free path by the modified A* algorithm for a 5-link closed chain. - Qing Xue; Yue-Ping Chien (Appl. Artif. Intell., 1995)