Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

Luca Massimiliano Capisani, Tullio Facchinetti, Antonella Ferrara, Alessandro Martinelli. Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators. Journal of Intelligent and Robotic Systems, 71(2):159-178, 2013. [doi]

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