@article{Galicki:1992,
  author  = "M. Galicki",
  title   = "Optimal planning of a collision-free trajectory of redundant manipulators",
  journal = "International Journal of Robotics Research",
  volume  = "Vol. 11",
  number  = "no 6",
  pages   = "549--559",
  year    = "1992",
}