Real-time collision avoidance system for multiple robots operating in shared work-space
Neil D. Duffy, Daniel Allan, J.T. Herd · IEE Proceedings E Computers and Digital Techniques · 1989
The paper presents a method whereby the operation of multiple robots co-operating in a common workspace, can be continually monitored for potential collisions. The method described is applicable to robots with arbitrarily complex shapes, degrees of freedom and joint type, and provides collision detection in real time.