Carlos L. Lück:
Self-Motion Representation and Global Path Planning Optimization for Redundant Manipulators through Topology-Based Discretization.
23-38 Electronic Edition (link) BibTeX
Miomir Vukobratovic:
Manipulation Robots - Dynamics, Control and Optimization, Felix L. Chernousko, Nikolai N. Bolotnik and Valery Gradetsky.
233-234 Electronic Edition (link) BibTeX