REFERENCES
- T Lozano-Perez, Spatial planning: a configuration space approach, IEEE Trans Computer, vol C-32, pp 108–120, 1983.
- R A Brooks & T Lozano-Perez, A subdivision algorithm in configuration space for find path with rotation, IEEE Trans Sys Man and Cybernetics, vol SMC-15, pp 224–233, 1985.
- T Lozano-Perez, A simple motion planning algorithm for general robot manipulators, IEEE J Rob and Aut, vol RA-3, pp 224–238, 1987.
- W E Red, H Troung Cao & K H Kim, Robot path planning in three dimensions using the direct subspace, ASME J Dynamic Sys, Meas and Control, vol 109, pp 239–244, 1987.
- R A Brooks, Solving the find-path problem by good representation of free space, IEEE Trans Sys Man and Cybernetics, vol SMC-13, pp 190–197, 1983.
- R A Brooks, Planning collision free motions for pick and place operations, Intl J Rob Res, vol 2, 1983.
- O Khatib, Real-time obstacle avoidance for manipulators and mobile robots, Intl J Rob Res, vol 5, pp 90–98, 1986.
- B Krogh, A generalized potential field approach to obstacle avoidance control, SME Conf Robotics research: The next five-years and beyond, Pennsylvania, 1984.
- V Lumelsky, Dynamic path planning for a planar articulated arm moving amidst unknown obstacles, Automatica, vol 23, pp 551–570, 1987.
- C Patwardhan, A critical study of kinematic, collision-avoidance techniques for a robot in a static workspace, M E Report, Dept of CSA, IISc, Bangalore, India, 1989.
- EG Gillbert & D W Johnson, Distance functions and their application to robot path planning in the presence of obstacles, IEEE J Rob and Aut, vol RA-1, pp 21–30, 1985.
- E G Gilbert, D W Johnson & S S Keerthi, A fast procedure for computing the distance between complex objects in three dimensional space, IEEE J Rob and Aut, vol RA-4, pp 193–203, 1988.
- J W Boyse, Interference detection among solids and surfaces, Comm ACM, vol 22, pp 3–9, 1979.
- S A Cameron, A study of the clash detection problem in robotics, Proc IEEE Intl Conf on Rob and Aut, pp 488–493, 1985.
- V Lumelsky & A Stepanov, Dynamic path planning for a mobile automation with limited information on the environment, IEEE Trans Aut Control, vol AC-31, pp 1058–1063, 1986.
- V Lumelsky & K Sun, Gross motion planning for a simple 3-d articulated robot arm moving amidst arbitrary shaped obstacles, Proc IEEE Intl Conf on Rob and Aut, 1987.
- E B Lee & L Markus, Foundations of Optimal Control Theory.
- L T Watson, S C Billups & A P Morgan, HOMPACK: A suite of codes for globally convergent homotopy algorithm, Algorithm 652, ACM Trans Math Soft were, vol 13, pp 281–310, 1987.
- L W Tsai & A P Morgan, Solving the kinematics of the most general six-and five-degree-of-freedom manipulators by continuation methods, ASME J Mech Transmissions, Ant Des, vol 107, pp 48–57, 1985.
- HA Watts, RDEAM—An Adams code with root solving capability, Rept. SAND-85-1595, Sandia National Laboratories, Albuquerque, NM, USA, 1985.
- W C Rheinboldt, Numerical Analysis of Parametrized Nonlinear Equations, Wiley-Interscience, 1986.
- L F Shampine, Some practical RK formulas, Math of Comput, vol 46, pp 135–150, 1986.
- C W Gear, Numerical Initial Value Problems in Ordinary Differential Equations, Prentice-Hill, 1971.
- O T Hanna, New explicit and implicit improved Euler methods for the integration of ODEs., Comp and Chem Engrg, vol 12, pp 1083–1086, 1988.