@InProceedings{Khatib1985,
  author    = {Khatib, O.},
  title     = {Real-time obstacle avoidance for manipulators and mobile robots},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  year      = {1985},
  pages     = {500--505},
  abstract  = { This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the "artificial potential field" concept. In this approach, collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control, allowing real-time robot operations in a complex environment. We have applied this obstacle avoidance scheme to robot arm using a new approach to the general problem of real-time manipulator control. We reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation. This method has been implemented in the COSMOS system for a PUMA 560 robot. Using visual sensing, real-time collision avoidance demonstrations on moving obstacles have been performed.},
  doi       = {10.1109/ROBOT.1985.1087247},
  groups    = {EMBC2013},
  timestamp = {2012.02.13},
}

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