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Real-time collision avoidance system for multiple robots operating in shared work-space

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3 Author(s)
Duffy, N. ; Dept. of Electr. & Electron. Eng., Heriot-Watt Univ., Edinburgh, UK ; Allan, D. ; Herd, J.T.

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.

Published in:

Computers and Digital Techniques, IEE Proceedings E  (Volume:136 ,  Issue: 6 )