A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms by Gerardo C. Velez-Lopez, Hector Vazquez-Leal, Luis Hernandez-Martinez, Arturo Sarmiento-Reyes, Gerardo Diaz-Arango, Jesus Huerta-Chua, Hector D. Rico-Aniles, Victor M. Jimenez-Fernandez

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