40.14 REFERENCES:

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A.P.Ambler, "Robotics and Solid Modelling: A Discussion of the Requirements Robotic Applications Put on Solid Modelling Systems", 2nd International Symposium Robotics Research 1985, pp 361-367.

R.A.Brooks, T.Lozano-Perez, "A Subdivision Algorithm in Configuration Space for Findpath with Rotation" IEEE Transactions on Systems, Man, and Cybernetics, Vol.SMC-15, No.2, Mar/Apr 1985, pp 224-233.

R.A.Brooks, "Planning Collision-free Motions for Pick-and-Place Operations", The International Journal of Robotics Research, Vol. 2, No. 4, Winter 1983, pp 19-44.

R.A.Brooks, "Solving the Find-Path Problem by Good Representation of Free Space" IEEE Transactions on Systems, Man, and Cybernetics (Mar/Apr 1983) Vol.smc-13, No.3, pp 190-197.

R.O.Buchal, D.B.Cherchas, "An Iterative Method for Generating Kinematically Feasible Interference-free Robot Trajectories", Future Publication in Robotica.

R.H.Davis, M.Camacho, "The Application of Logic Programming to the Generation of Paths for Robots" Robotica (1984) vol.2, pp 93-103.

S.Dubowsky, M.A. Norris, Z. Shiller, "Time Optimal Trajectory Planning for Robotic Manipulators with Obstacle Avoidance: A CAD Approach", Proceedings 1986 IEEE International Conference on Robotics and Automation, pp.1906-1912, San Francisco, California, April 1986.

B.Espiau, R.Boulic, "Collision Avoidance for Redundant Robots with Proximity Sensors", The Third International Symposium of Robotics Research, 1986, pp243-251.

E.Freund, H.Hoyer, "Real-Time Pathfinding in Multirobot Systems Including Obstacle Avoidance", The International Journal of Robotics Research, Vol. 7, No. 1, February 1988, pp 42-70.

B. Faverjon, "Object Level Programming of Industrial Robots", Proceedings 1986 IEEE International Conference on Robotics and Automation, San Francisco, April 1986, pp 1406-1412.

B.Faverjon, P.Tournassoud, "A Local Based Approach for Path Planning of Manipulators With a High Number of Degrees of Freedom", 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, March-April 1987, pp 1152-1159.

K.S.Fu, R.C.Gonzalez, C.S.G.Lee, "Robotics; Control, Sensing, Vision, and Intelligence", New York: McGraw Hill, 1987.

E.G.Gilbert, D.W. Johnson, "Distance Functions and Their Application to Robot Path Planning in the Presence of Obstacles", IEEE Journal of Robotics and Automation, Vol. RA-1, No. 1, March 1985.

E.G.Gilbert, D.W.Johnson, S.S.Keerthi, "A Fast Procedure for Computing the Distance Between Complex Objects in Three Space", 1987 IEEE International Conference on Robotics and Automation", pp. 1883-1889, Raleigh, North Carolina, March-April 1987.

J.H.Graham, "Comment on "Automatic Planning of Manipulator Transfer Movements"", IEEE Transactions on Systems, Man, and Cybernetics, Vol. SMC-14, No.3, May/June 1984, pp 499-500.

Y.K.Hwang, N.Ahuja, "Path Planning Using a Potential Field Representation", Proceedings 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp 648-649.

Y.Kanayama, "Least Cost Paths with Algebraic Cost Functions", 1988 IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, April 1988, pp 75-80.

K.Kant, S.Zucker, "Planning Collision-Free Trajectories in Time-Varying Environments: A Two-Level Hierarchy", Proceedings 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp 1644-1649.

P.Khosla, R.Volpe, "Superquadratic Artificial Potentials for Obstacle Avoidance and Approach", Proceedings 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp 1778-1784.

S.Kirkpatrick, C.D.Gelatt, M.P.Vecchi, "Optimization by Simulated Annealing", Science, 13 May 1983, Vol.220, No.4598, pp 671-680.

J.C.Latombe, C.Laugier, J.M.Lefebvre, E.Mazer, "The LM Robot Programming System", 2nd International Symposium of Robotics Research, 1985, pp377-391.

J. Laumond, "Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints", Intelligent Autonomous Systems, An International Conference held in Amsterdam, The Netherlands, December 1986, pp 346-354.

B.H.Lee, Y.P.Chien, "Time Varying Obstacle Avoidance for Robotic Manipulators: Approaches and Difficulties", 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, March-April 1987, pp 1610-1615.

S.Lee, "Dual Redundant Arm Configuration Optimization with Task-Oriented Dual Arm Manipulability", Vol. 5, No. 1, February 1989, pp.78-97.

A.Liegeois, P.Borrel, E.Dombre, "Programming, Simulating and Evaluating Robot Actions", The Second International Symposium of Robotics Research, 1985, pp 411-418.

T.Lozano-Perez, M.A.Wesley, "An Algorithm for Planning Collision Free Paths Among Polyhedral Obstacles" Communications of the ACM (October 1979) vol.22, no.10, pp 560-570.

T. Lozano-Perez, "Spatial Planning: A Configuration Space Approach" IEEE Transactions on Computers, Vol.c-32, No.2, February 1983.

J.Y.S.Luh, C.E.Campbell, "Minimum Distance Collision-Free Path Planning for Industrial Robots with a Prismatic Joint", IEEE Transactions on Automatic Control, Vol. AC-29, No. 8, August 1984.

A.C.Meng, "Dynamic Motion Replanning for Unexpected Obstacles", Proceedings 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp 1848-1849

K.L.Muck, "Motion Planning in Constraint Space", Proceedings 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp 633-635.

N.J. Nilsson, "A Mobile Automaton: An Application of Artificial Intelligence Techniques" Proceedings International Joint Conference Artificial Intelligence, 1969, pp 509-520.

E.Palma-Villalon, P.Dauchez, "World Representation and Path Planning for a Mobile Robot", Robotica (1988), Volume 6, pp 35-40.

W.T.Park, "State-Space Representation for Coordination of Multiple Manipulators", 14th ISIR, Gothenburg, Sweden, 1984, pp 397-405.

K.Rao, G.Medioni, H.Liu, G.A.Bekey, "Shape Description and Grasping for Robot Hand-Eye Coordination", IEEE Control Systems Magazine, Vol.9, No.2, February 1989, pp.22-29.

W.E.Red, H.V.Truong-Cao, "Configuration Maps for Robot Path Planning in Two Dimensions" Journal of Dynamic Systems, Measurement, and Control (December 1985) Vol.107, pp 292-298.

S.Singh, M.C.Leu, "Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming", Journal of Dynamic Systems, Measurement, and Control, June 1987, Vol. 109, pp 88-96.

T.Soetadji, "Cube Based Representation of Free Space", Intelligent Autonomous Systems, An International Conference held in Amsterdam, The Netherlands, December 1986, pp 546-560.

I.H.Suh, K.G. Shin, "Coordination of Dual Robot Arms Using Kinematic Redundancy", IEEE Transactions on Robotics and Automation, Vol.5, No.2, April 1989, pp. 236-242.

K.Sun, V.Lumelsky, "Computer Simulation of Sensor-based Robot Collision Avoidance in an unknown Environment", Robotica (1987), volume 5, pp 291-302.

O.Takahashi, R.J.Schilling, "Motion Planning in a Plane Using Generalized Voronoi Diagrams", IEEE Transactions on Robotics and Automation, Vol.5, No. 2, April 1989, pp 143-150.

C.Tseng, C.Crane, J.Duffy, "Generating Collision-FreePaths for Robot Manipulators", Computers in Mechanical Engineering, September/October 1988, pp 58-64.

S. Udupa, "Collision Detection and Avoidance in Computer Controlled Manipulators" Ph.D. Thesis, California Institute of Technology, Pasadena, California, 1977.

P.W.Verbeek, L.Dorst, B.J.H. Verwer, F.C.A.Groen, "Collision Avoidance and Path Finding Through Constrained Distance Transformation in Robot State Space", Intelligent Autonomous Systems, An International Conference held in Amsterdam, The Netherlands, December 1986, pp 627-634.

M.Vukobratovic, M.Kircanski, "A Method for Optimal Synthesis of Manipulation Robot Trajectories", Journal of Dynamic Systems, Measurement and Control, June 1982, Vol. 104, pp 188-193

E.K. Wong, K.S.Fu, "A Hierarchical Orthagonal Space Approach to Three-Dimensional Path Planning", IEEE Journal of Robotics and Automation, Vol. RA-2, No. 1, March 1986, pp 42-53.

S.C.Zaharakis, A.Guez, "Time Optimal Navigation Via Slack Time Sets", Proceedings 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp 650-651.