Hirohisa Hirukawa, Shinzo Kitamura. A collision avoidance method for robot manipulators based on the safety first algorithm and the potential function. Advanced Robotics, 4(1):43-57, 1989. [doi]
@article{HirukawaK89,
title = {A collision avoidance method for robot manipulators based on the safety first algorithm and the potential function},
author = {Hirohisa Hirukawa and Shinzo Kitamura},
year = {1989},
doi = {10.1163/156855390X00044},
url = {http://dx.doi.org/10.1163/156855390X00044},
tags = {rule-based},
researchr = {https://researchr.org/publication/HirukawaK89},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {4},
number = {1},
pages = {43-57},
}