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A hexagonal segment that fits inside the boundaries of the workspace is considered as the machining trajectory. The tool velocity is assumed to be constant as it improves the quality of machining. The results obtained from the proposed planner is found to be efficient as the task planning module has computed the precise support locations and support duration for the SwarmItFIX robots. The multi-robot path planning module of the planner computes the optimal collision-free paths of SwarmItFIX robots for all goal positions. Finally, trajectories of SwarmItFIX robots are found to be completely in-line with the trajectory of tool center point (TCP) of the serial manipulator.<\/jats:p>","DOI":"10.1007\/s40747-021-00499-3","type":"journal-article","created":{"date-parts":[[2021,8,28]],"date-time":"2021-08-28T09:02:52Z","timestamp":1630141372000},"page":"2937-2954","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Hybrid type multi-robot path planning of a serial manipulator and SwarmItFIX robots in sheet metal milling process"],"prefix":"10.1007","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2538-0022","authenticated-orcid":false,"given":"Satheeshkumar","family":"Veeramani","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0464-341X","authenticated-orcid":false,"given":"Sreekumar","family":"Muthuswamy","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,8,28]]},"reference":[{"key":"499_CR1","unstructured":"Molfino RM, Zoppi M, Zlatanov D (2013) Bench and method for the support and manufacturing of parts with complex geometry, US patent, US8495811B2"},{"key":"499_CR2","doi-asserted-by":"publisher","first-page":"815","DOI":"10.1007\/s10845-019-01479-8","volume":"31","author":"S Veeramani","year":"2020","unstructured":"Veeramani S, Muthuswamy S, Sagar K, Zoppi M (2020) Artificial intelligence planners for multi-head path planning of SwarmItFIX agents. 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