@InProceedings{LIS27,<br>title = {Deadlock-Free and Collision-Free Coordination of Two Robot Manipulators},<br>author = {Patrick A. O'Donnell and Tomas Lozano-Perez},<br>year = {1989},<br>url = {http://lis.csail.mit.edu/pubs/tlp/coordination-o-donnell.pdf},<br>pages = {484--489},<br>booktitle = {IEEE Robotics and Automation Conference},<br>}