@ARTICLE{c.balaguer1995reductionoffree-space-loss,
TITLE = {Reduction of Free-Space-Loss for Good and Rapid 3D Path Planning of 6DOF Robots},
JOURNAL = {Journal of Intelligent & Robotic Systems },
VOLUME = {13},
NUMBER = {3},
PAGES = {263 - 278},
YEAR = {1995},
AUTHOR = {C. Balaguer}
}