Collision-Free Kinematics for Redundant Manipulators in Dynamic Scenes using Optimal Reciprocal Velocity Obstacles

Liangliang Zhao1,2, Jingdong Zhao1, Hong Liu1, and Dinesh Manocha2

1. State Key Laboratory of Robotics and System, Harbin Institute of

Technology, Harbin, 150001, China.

2. Department of Computer Science and Electrical & Computer Engineering,

University of Maryland at College Park, MD, USA.