Hierarchical Sphere Model (HSM) and Its Application for Checking an Interference Between Moving Robots

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@article{Liu1988HierarchicalSM, title={Hierarchical Sphere Model (HSM) and Its Application for Checking an Interference Between Moving Robots}, author={Yunhui Liu and H. Noborio and Suguru Arimoto}, journal={IEEE International Workshop on Intelligent Robots}, year={1988}, pages={801-806} }