{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,30]],"date-time":"2022-03-30T06:35:30Z","timestamp":1648622130725},"reference-count":0,"publisher":"World Scientific Pub Co Pte Lt","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Patt. Recogn. Artif. Intell."],"published-print":{"date-parts":[[1990,6]]},"abstract":"<jats:p> We investigate the problem of finding collision-free paths for two planar robots which coordinately carry a rectangular object from an initial position and orientation to a destination position and orientation in a cluttered 2-D environment. The robot arms and the carried object construct a 6-link closed chain. The path planning problem for the 6-link closed chain is solved by using two major algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The collision-free feasible configuration finding algorithm finds all collision-free feasible configurations (CFFCs) of the 6-link closed chain in each discrete interval of two joint angles. The collision-free path finding algorithm builds a connection graph by CFFCs and the transitions between any two groups of CFFCs at adjacent joint intervals. Then a graph search method is used to find a collision-free path for each joint of the robots. <\/jats:p>","DOI":"10.1142\/s0218001490000186","type":"journal-article","created":{"date-parts":[[2004,11,28]],"date-time":"2004-11-28T21:14:37Z","timestamp":1101676477000},"page":"269-301","source":"Crossref","is-referenced-by-count":2,"title":["PATH PLANNING FOR TWO COOPERATING ROBOTS"],"prefix":"10.1142","volume":"04","author":[{"given":"QING","family":"XUE","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Indiana University \u2014 Purdue University at Indianapolis, 1201 East 38th Street,  Indianapolis, IN 46205, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"PHILLIP C.-Y.","family":"SHEU","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering,  Rutgers University, Piscataway, NJ 08855, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2011,11,21]]},"container-title":["International Journal of Pattern Recognition and Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0218001490000186","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T22:14:55Z","timestamp":1565129695000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0218001490000186"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,6]]},"references-count":0,"journal-issue":{"issue":"02","published-online":{"date-parts":[[2011,11,21]]},"published-print":{"date-parts":[[1990,6]]}},"alternative-id":["10.1142\/S0218001490000186"],"URL":"https:\/\/doi.org\/10.1142\/s0218001490000186","relation":{},"ISSN":["0218-0014","1793-6381"],"issn-type":[{"value":"0218-0014","type":"print"},{"value":"1793-6381","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,6]]}}}