@misc{indiciaed6e8d279efd5,
  title = {Single step optimization of feedback-decoupled collision avoidance manipulator maneuvers},
  author = {Chen, N. and Dwyer, T. A. W., III and Fadali, M. S.},
  year = {1986},
  url = {https://ntrs.nasa.gov/citations/19870026153},
  note = {Source identifier: 19870026153}
}