A space decomposition method for path planning of loop linkages.

Josep M. Porta Juan Cortes Lluís Ros Federico Thomas A space decomposition method for path planning of loop linkages. 1882-1888 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399140 conf/iros/2007 db/conf/iros/iros2007.html#PortaCRT07