Hiroshi Noborio, Joe Hashime. A feasible collision-free and deadlock-free path-planning algorithm in a certain workspace where multiple robots move flexibly. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1991, Osaka, Japan, November 3-5, 1991. pages 1074-1079, IEEE, 1991. [doi]
Abstract is missing.