Planning collision-free movements of a robot: A systems theory approach
Witold Aleksander Jacak, Barbara Łysakowska, Ireneusz Sierocki · Robotica · 1988
SUMMARY In the paper we present system-theoretic descriptions of the robot's kinematics models, in a discrete and discretized workspace. For those descriptions, the problem of planning collision-free trajectories of motion is stated and represented as a classical problem of optimizing the behaviour of dynamical system.