@phdthesis{oai:tsukuba.repo.nii.ac.jp:00035875,
 author = {Ahmad Yasser Afaghani},
 month = {},
 note = {2014},
 school = {筑波大学, University of Tsukuba},
 title = {On-line Collision and Deadlock Avoidance of PTP Command-Based Industrial Manipulators using Advanced Collision Map},
 year = {2015}
}