Maciejewski, Anthony A., authorFox, J. J., authorACTA Press, publisher2007-01-032007-01-032001Fox, J. J. and A. A. Maciejewski, Utilizing the Topology of Configuration Space in Real-Time Multiple Manipulator Path Planning, International Journal of Robotics and Automation 16, no. 1 (2001): 1-13.http://hdl.handle.net/10217/67363This article provides a set of algorithms that allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented that utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner that is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.born digitalarticleseng©2001 ACTA Press.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.multiple manipulatorsobstacle avoidancepath planningText