Practical formulation of obstacle avoidance in the Task-Priority framework for use in robotic inspection and intervention scenarios

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots

Oussama Khatib · The International Journal of Robotics Research · 1986 · 7.6K citations

Engineering, Mechanical Engineering, Robotics Engineering +14

The dynamic window approach to collision avoidance

D. Fox, Wolfram Burgard, Sebastian Thrun · IEEE Robotics & Automation Magazine · 1997 · 3.6K citations

Engineering, Mechanical Engineering, Robotics Engineering +11

OctoMap: an efficient probabilistic 3D mapping framework based on octrees

Armin Hornung, Kai M. Wurm, Maren Bennewitz et al. · Autonomous Robots · 2013 · 2.8K citations

Computing, Geoinformatics, 3D Modeling +12

The vector field histogram-fast obstacle avoidance for mobile robots

J. Borenstein, Yoram Koren · IEEE Transactions on Robotics and Automation · 1991 · 2.3K citations

Computing, Computer Science, Robotics Engineering +17

Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators

S. Chiaverini · IEEE Transactions on Robotics and Automation · 1997 · 669 citations

Engineering, Mechanical Engineering, Robotics Engineering +17