Rachid Alami, Jean-Paul Laumond, Thierry Simeon. Two manipulation planning algorithms. Ken Goldberg, Dan Halperin, Jean-Claude Latombe, Randall Wilson.
WAFR Proceedings of the workshop on Algorithmic foundations of robotics , A. K. Peters, Ltd. Natick, MA, USA, pp.109-125, 1994, ISBN:1-56881-045-8.
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