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A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces

Ashwini Shukla, Ekta Singla, Pankaj Wahi, Bhaskar DasGupta. A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces. Robotics and Autonomous Systems, 61(2):209-220, 2013. [doi]

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