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If the distance amongst the manipulator and cellular robot is lower than the buffer distance, this means the manipulator lies inside the buffer area of this cellular robot, the suggested strategy is to go the mobile robot from the manipulator in order for the manipulator become placed beyond your edge of the region, the DBB. The strategy is attained by applying force on the mobile robot. Consequently, the manipulator can stay away from self-collision aided by the cellular robot without modifyin

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