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3 May 2017 The book will be published by Cambridge University Press in. May 2017, ISBN and is freely downloadable from http://modernrobotics.org. This chapter addresses the problem of finding a collision-free motion for a robot.

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ROBOTICS FOR. ENGINEERS by Yoram Koren. Head, Robotics Laboratory. Technion—Israel Institute of Technology. McGraw-Hill Book Company. New York 

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