Thierry Fraichard, Hajime Asama. Inevitable collision states - a step towards safer robots?. Advanced Robotics, 18(10):1001-1024, 2004. [doi]
@article{FraichardA04,
title = {Inevitable collision states - a step towards safer robots?},
author = {Thierry Fraichard and Hajime Asama},
year = {2004},
doi = {10.1163/1568553042674662},
url = {http://dx.doi.org/10.1163/1568553042674662},
researchr = {https://researchr.org/publication/FraichardA04},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {18},
number = {10},
pages = {1001-1024},
}