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S. Lahouar, E. Ottaviano, S. Zeghoul, L. Romdhane and M. Ceccarelli, “Collision Free Path-Planning for CableDriven Parallel Robots,” Robotics and Autonomous Sys- tems, Vol. 57, No. 11, 2009, pp. 1083-1093.doi:10.1016/j.robot.2009.07.006

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