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The proposed approach for decoupled path planning is a two-phase approach in which the path for coordinated manipulation is generated with a coupled interaction between collision checking and path planning techniques. Collision checking is done by modelling the links and environment of robot using swept sphere volume technique and utilizing minimum distance heuristic for interference check. While determining the path of the end effector of robots involved in coordinated manipulation, the obstacles present in the workspace are considered as static obstacles and the links of the robots are viewed as dynamic obstacles by the other robot. Coordination is done in offline mode by implementing replanning strategy which adopts incremental A* algorithm for searching the collision-free path. The effectiveness of proposed decoupled approach is demonstrated by considering two examples having multiple six degrees of freedom robots operating in 3D work cell environment with certain static obstacles.<\/jats:p>","DOI":"10.1017\/s0263574709005773","type":"journal-article","created":{"date-parts":[[2009,5,26]],"date-time":"2009-05-26T08:43:31Z","timestamp":1243327411000},"page":"477-491","source":"Crossref","is-referenced-by-count":4,"title":["Offline decoupled path planning approach for effective coordination of multiple robots"],"prefix":"10.1017","volume":"28","author":[{"given":"Shital S.","family":"Chiddarwar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N. 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