@misc{indiciae2aa16f489d0a,
  title = {Collision-free trajectory planning algorthm for manipulators},
  author = {Pourboghrat, F. and Han, J. Y.},
  year = {1987},
  url = {https://ntrs.nasa.gov/citations/19890017182},
  note = {Source identifier: 19890017182}
}