biblio.bib

@article{Hermann2014,
author = {Hermann, Andreas and Drews, Florian and Bauer, Joerg and Klemm, Sebastian and Roennau, Arne and Dillmann, Ruediger},
doi = {10.1109/IROS.2014.6943148},
isbn = {9781479969340},
issn = {21530866},
journal = {IEEE International Conference on Intelligent Robots and Systems},
pages = {4154--4160},
title = {{Unified GPU voxel collision detection for mobile manipulation planning}},
year = {2014}
}
@article{Dorigo2006,
abstract = {Swarm intelligence is a relatively new approach to problem solving that takes inspiration from the social behaviors of insects and of other animals. In particular, ants have inspired a number of methods and techniques among which the most studied and the most successful is the general purpose optimization technique known as ant colony optimization. Ant colony optimization (ACO) takes inspiration from the foraging behavior of some ant species. These ants deposit pheromone on the ground in order to mark some favorable path that should be followed by other members of the colony. Ant colony optimization exploits a similar mechanism for solving optimization problems. From the early nineties, when the first ant colony optimization algorithm was proposed, ACO attracted the attention of increasing numbers of researchers and many successful applications are now available. Moreover, a substantial corpus of theoretical results is becoming available that provides useful guidelines to researchers and practitioners in further applications of ACO. The goal of this article is to introduce ant colony optimization and to survey its most notable applications},
author = {Dorigo, M. and Birattari, M. and Stutzle, T.},
doi = {10.1109/MCI.2006.329691},
isbn = {0262042193},
issn = {1556-603X},
journal = {IEEE Computational Intelligence Magazine},
number = {4},
pages = {28--39},
pmid = {22074763},
title = {{Ant colony optimization}},
volume = {1},
year = {2006}
}

@incollection{pellegrini2006cal,
author = {Pellegrini, Paola and Favaretto, Daniela and Moretti, Elena},
doi = {10.1007/11839088\_18},
pages = {203--214},
publisher = {Springer, Berlin, Heidelberg},
title = {{On MAX – MIN Ant System's Parameters}},
booktitle={International Conference on Swarm Intelligence},
year = {2006}
}

@article{Abdel-Malek2004,
	isbn = {0826-8185},
	issn = {1925-7090},
	journal = {International Journal of Robotics and Automation},
	number = {1},
	title = {{Placement of Robot Manipulators to Maximize Dexterity}},
	volume = {19},
	year = {2004}
}
@article{Correa2014,
	author = {Correa, Edwin Francis C{\'{a}}rdenas and Dutra, Max Suell},
	journal = {ABCM Symposium Series in Mechatronics},
	keywords = {ant colony system,heuristic search,placement optimization,robot manipulator},
	pages = {896--905},
	title = {{Manipulator Base Placement Solved With Heuristic Search}},
	volume = {6},
	year = {2014}
}
@article{Feddema1996,
    author = {Feddema, John T},
	journal = {IEEE International Conference on Robotics and Automation Minneapolis},
	volume = {April},
	title = {{Kinematically optimal robot placement for minimum time coordinated motion}},
	year = {1996}
}
@article{Kamrani2008,
    author = {Kamrani, Behnam and Berbyuk, Viktor and W{\"{a}}ppling, Daniel and Stickelmann, Uwe and Feng, Xiaolong},
	file = {:D$\backslash$:/Paper/10.1007{\%}2Fs00170-008-1824-7.pdf:pdf},
	issn = {0268-3768},
	journal = {The International Journal of Advanced Manufacturing Technology},
	keywords = {Engineering},
	number = {1-2},
	pages = {201--210},
	title = {{Optimal robot placement using response surface method}},
	volume = {44},
	year = {2008}
}

@article{Makhal2017,
	abstract = {Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixed-base robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks. This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual work of identifying potential base locations. Based on the reachability map, base placement locations of a whole robot or only the arm can be efficiently determined. This can be applied to both statically mounted robots, where position of the robot and work piece ensure the maximum amount of work performed, and to mobile robots, where the maximum amount of workable area can be reached. Solutions are not limited only to vertically constrained placement, since complicated robotics tasks require the base to be placed at unique poses based on task demand. All Reuleaux library methods were tested on different robots of different specifications and evaluated for tasks in simulation and real world environment. Evaluation results indicate that Reuleaux had significantly improved performance than prior existing methods in terms of time-efficiency and range of applicability.},
	archivePrefix = {arXiv},
	arxivId = {1710.01328},
	author = {Makhal, Abhijit and Goins, Alex K.},
	eprint = {1710.01328},
	file = {:D$\backslash$:/Paper/1710.01328.pdf:pdf},
	title = {{Reuleaux: Robot Base Placement by Reachability Analysis}},
	year = {2017}
}
@article{Oriolo2009,
	abstract = {We consider the problem of planning collision-free motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approaches to the solution are based on the idea of sampling and inverting the task constraint to build a roadmap of task-constrained configurations which are then connected by simple local paths; hence, task tracking is not enforced during the motion between samples. Here, we present a control-based randomized approach relying on a motion generation scheme that guarantees continued satisfaction of such constraint. The resulting planner allows to achieve accurate execution of the desired task without increasing the size of the roadmap. Numerical results on a fixed-base manipulator and a free-fying mobile manipulator are presented to illustrate the performance improvement obtained with the proposed technique.},
	author = {Oriolo, Giuseppe and Vendittelli, Marilena},
	file = {:D$\backslash$:/Paper/IROS09{\_}TCMP.pdf:pdf},
	isbn = {9781424438044},
	journal = {2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009},
	number = {1},
	pages = {297--302},
	title = {{A control-based approach to task-constrained motion planning}},
	year = {2009}
}
@article{Pamanes1991,
	abstract = {A method to find the optimal placement of manipulators by using multiple kinematic critera is presented in this paper. By locating adequately a manipulator in order to accomplish a specified task, the method allows to improve several indices of kinematic criteria of the manipulator for different points in the path. In the formulation of the problem presented here, these indices are coherently incorpored in an objective function which allows to carry out their global optimization. The method considers the constraints imposed by the reach and by the joint limits of the manipulator. The improvements that can be achieved for the performances of manipulators by applying the method are shown in an example.},
	author = {Pamanes, {G.J.A.} and Zeghloul, Said},
	file = {:D$\backslash$:/Paper/Pamanes, Zeghloul - 1991 - Optimal placement of robotic manipulators using multiple kinematic criteria.pdf:pdf},
	isbn = {0-8186-2163-X},
	journal = {Proceedings - IEEE International Conference on Robotics and Automation},
	number = {April},
	pages = {933--938},
	title = {{Optimal placement of robotic manipulators using multiple kinematic criteria}},
	volume = {1},
	year = {1991}
}
@article{Park1997,
	author = {Park, Young S O O},
	file = {:D$\backslash$:/Paper/Task Oriented Optimum Positioning of a Mobile Manipulator.pdf:pdf},
	issn = {09210296},
	keywords = {2 n thee,configuration free space,direct search method of,dynamic programming,mobile manipulator,optimization,serial multistage system,spatial planning,t-connectivity},
	number = {121009},
	pages = {147--168},
	title = {{Task Oriented Optimum Positioning of a Mobile Manipulator Base in a Cluttered Environment}},
	year = {1997}
}
@article{Santos2010,
	abstract = {Power consumption and accuracy are main aspects to be taken into account in the movement executed by high performance robots. The first aspect is important from the economical point of view, while the second is requested to satisfy technical specifications. Aiming at increasing the robot performance, a strategy that maximizes the manipulator accuracy and minimizes the mechanical power consumption is considered in this work. The end-effector is constrained to follow a predefined path during the optimal task positioning. The proposed strategy defines a relation between mechanical power and manipulability as a key element of the manipulator analysis, establishing a performance index for a rigid body transformation. This transformation is used to compute the optimal task positioning through the optimization of a multicriteria objective function. Numerical simulations regarding a serial robot manipulator demonstrate the viability of the proposed methodology.},
	author = {dos Santos, Rog{\'{e}}rio Rodrigues and Steffen, Valder and Saramago, Sezimaria de Fatima},
	file = {:D$\backslash$:/Paper/IIM20100900002{\_}85885528.pdf:pdf},
	issn = {2150-8194},
	journal = {Intelligent Information Management},
	keywords = {Multicriteria Optimization,Optimal Robot Path Planning,Optimal Task Placement},
	number = {09},
	pages = {512--525},
	title = {{Optimal Task Placement of a Serial Robot Manipulator for Manipulability and Mechanical Power Optimization}},
	volume = {02},
	year = {2010}
}
@article{Spensieri2016,
	abstract = {Automotive assembly cells are cluttered environments, including robots, workpieces, and fixtures. Due to high volumes and several product variants assembled in the same cell, robot placement is crucial to increase flexibility and throughput. In this paper, we propose a novel method to optimize the base position of an industrial robot with the objective to reach all predefined tasks and minimize cycle time: robot inverse kinematics and collision avoidance are integrated together with a derivative-free optimization algorithm. This approach is successfully used to find feasible solutions on industrial test cases, showing up to 20{\%} cycle time improvement.},
	author = {Spensieri, Domenico and Carlson, Johan S. and Bohlin, Robert and Kressin, Jonas and Shi, Jane},
	file = {:D$\backslash$:/Paper/1-s2.0-S2212827116003875-main.pdf:pdf},
	isbn = {4631772425},
	issn = {22128271},
	journal = {Procedia CIRP},
	keywords = {Robotics,cell layout,optimization,path planning},
	pages = {395--400},
	publisher = {Elsevier B.V.},
	title = {{Optimal Robot Placement for Tasks Execution}},
	volume = {44},
	year = {2016}
}
@article{Vahrenkamp2013,
	abstract = {Having a representation of the capabilities of a robot is helpful when online queries, such as solving the inverse kinematics (IK) problem for grasping tasks, must be processed efficiently in the real world. When workspace representations, e.g. the reachability of an arm, are considered, additional quality information such as manipulability or self- distance can be employed to enrich the spatial data. In this work we present an approach of inverting such precomputed reachability representations in order to generate suitable robot base positions for grasping. Compared to existing works, our approach is able to generate a distribution in SE(2), the cross-space consisting of 2D position and 1D orientation, that describes potential robot base poses together with a quality index. We show how this distribution can be queried quickly in order to find oriented base poses from which a target grasping pose is reachable without collisions. The approach is evaluated in simulation using the humanoid robot ARMAR-III [1] and an extension is presented that allows to find suitable base poses for trajectory execution.},
	author = {Vahrenkamp, Nikolaus and Asfour, Tamim and Dillmann, Rudiger},
	file = {:D$\backslash$:/Paper/06630839.pdf:pdf},
	isbn = {9781467356411},
	issn = {10504729},
	journal = {Proceedings - IEEE International Conference on Robotics and Automation},
	number = {2},
	pages = {1970--1975},
	title = {{Robot placement based on reachability inversion}},
	year = {2013}
}
@article{Vosniakos2010,
	abstract = {Milling performed with robots is quite demanding, even for low-strength materials, due to the high accuracy requirements, the generally high and periodically varying milling forces and the low stiffness of robots compared to CNC machine tools. In view of the generally improved recently robot stiffness, it is desirable to perform the milling operation in regions of the robot's workspace where manipulability, both kinematic and dynamic, is highest, thereby exhausting the robot's potential to cope with the process. In addition, by selecting the most suitable initial pose of the robot with respect to the workpiece, a reduction in the range of necessary joint torques may be reached, to the extent of alleviating the heavy requirements on the robot. Two genetic algorithms (GAs) are employed to tackle these problems. The values of several robot variables, such as joint positions and torques, which are needed by the genetic algorithms, are calculated using inverse kinematics and inverse dynamics models. In addition, initial positions and poses leading to singularities along the milling path are penalized and, thus, avoided. The first GA deals solely with robot kinematics to maximize manipulability. The second GA takes into account milling forces, which are computed numerically according to the particular milling parameters, to minimise joint torque loads. {\textcopyright} 2010 Elsevier Ltd. All rights reserved.},
	author = {Vosniakos, George Christopher and Matsas, Elias},
	file = {:D$\backslash$:/Paper/RCIM1-s2.0-S0736584510000256-main.pdf:pdf},
	isbn = {0736-5845},
	issn = {07365845},
	journal = {Robotics and Computer-Integrated Manufacturing},
	keywords = {Genetic algorithms,Inverse dynamics,Manipulability,Robotic milling},
	number = {5},
	pages = {517--525},
	publisher = {Elsevier},
	title = {{Improving feasibility of robotic milling through robot placement optimisation}},
	volume = {26},
	year = {2010}
}
@article{Zacharias2008,
	abstract = {For mobile manipulators envisioned in home environments a kitchen scenario provides a challenging testbed for numerous skills. Diverse manipulation actions are required, e.g. simple pick and place for moving objects and constrained motions for opening doors and drawers. The robot kinematics and link limits however are restrictive. Therefore especially a constrained trajectory will not be executable from arbitrary placements of the mobile manipulator. A two stage approach is presented to position a mobile manipulator to execute constrained linear trajectories as needed for opening drawers. In a first stage, a representation of a robot armpsilas reachable workspace is computed. Pattern recognition techniques are used to find regions in the workspace representation where these trajectories are possible. A set of trajectories results. In the second stage mobile manipulator placements are computed and the corresponding trajectories are checked for collisions. Compared to a brute force search through the workspace, the success rate of finding a mobile manipulator placement can be increased from 2{\%} to 70{\%}.},
	author = {Zacharias, Franziska and Borst, Christoph and Beetz, Michael and Hirzinger, Gerd},
	file = {:D$\backslash$:/Paper/10.1.1.562.9653.pdf:pdf},
	isbn = {9781424420582},
	journal = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS},
	pages = {2578--2584},
	title = {{Positioning mobile manipulators to perform constrained linear trajectories}},
	year = {2008}
}
@article{Yoshikawa1985,
	abstract = { The concept of manipulability measure of robotic mechanisms is discussed. This is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end-effectors. Some properties of this measure are established and the best postures of various types of manipulators from the viewpoint of this measure are given. A four-joint wrist mechanism is also analyzed with respect to its manipulability, and a control algorithm for this redundant mechanism is developed.},
	author = {Yoshikawa, T.},
	file = {:D$\backslash$:/Paper/Yoshikawa - 1985 - Manipulability and redundancy control of robotic mechanisms.pdf:pdf},
	issn = {0278-3649},
	journal = {Proceedings. 1985 IEEE International Conference on Robotics and Automation},
	pages = {1004--1009},
	title = {{Manipulability and redundancy control of robotic mechanisms}},
	volume = {2},
	year = {1985}
}
@article{Angeles1992,
	abstract = {The conditioning index of a serial robotic manipulator is defined in this article in terms of the reciprocal of its minimum condition number The condition number of a manipulator is defined, in turn, as that of its Jacobian matrix. Moreover in defining the Jacobian condition number a quadratic norm of the Jacobian matrix is needed. However, this norm, or for that matter any other norm, brings about dimensional inhomogeneities. It is shown here that by properly defining the said norm based on a weighting positive definite matrix, the dimensional inhomogeneity is resolved Manipulators with a conditioning index of 100{\%} are termed isotropic, a six-axis isotropic manipulator being introduced. This manipulator has all its angles between neighboring revolute axes at 90-degrees and all its distances between neighboring axes identical; moreover these distances are identical to the offsets of those axes. The kinematic conditioning of wrist-partitioned manipulators is given due attention, and illustrated with some examples of industrial robots of this type.},
	author = {Angeles, Jorge and L{\'{o}}pez-Caj{\'{u}}n, Carlos S.},
	file = {:D$\backslash$:/Paper/Kinematic Isotropy and the conditioning index.pdf:pdf},
	isbn = {0278-3649},
	issn = {0278-3649},
	journal = {The International Journal of Robotics Research},
	number = {6},
	pages = {560--571},
	title = {{Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators}},
	volume = {11},
	year = {1992}
}
@article{Mirjalili2016,
	abstract = {This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html.},
	author = {Mirjalili, Seyedali and Lewis, Andrew},
	file = {:D$\backslash$:/Paper/Whale Optimization Algorithm.pdf:pdf},
	isbn = {0965-9978},
	issn = {18735339},
	journal = {Advances in Engineering Software},
	keywords = {Algorithm,Benchmark,Constrained optimization,Genetic algorithm,Heuristic algorithm,Optimization,Particle swarm optimization,Structural optimization},
	pages = {51--67},
	publisher = {Elsevier Ltd},
	title = {{The Whale Optimization Algorithm}},
	volume = {95},
	year = {2016}
}

@article{Dorigo1996,
	isbn = {1083-4419 VO - 26},
	issn = {10834419},
	journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics},
	number = {1},
	pages = {29--41},
	pmid = {18263004},
	title = {{Ant system: Optimization by a colony of cooperating agents}},
	volume = {26},
	year = {1996}
}

@book{siciliano2009,
	title={Robotics, Modelling, Planning and Control},
	author={Siciliano, Bruno and Sciavicco, Lorenzo and Villani, Luigi and Oriolo, Giuseppe},
	year={2009},
	publisher={Springer}
}

@article{legnani2010,
	title = "The “point of isotropy” and other properties of serial and parallel manipulators",
	journal = "Mechanism and Machine Theory",
	volume = "45",
	number = "10",
	pages = "1407 - 1423",
	year = "2010",
	issn = "0094-114X",
	author = "G. Legnani and D. Tosi and I. Fassi and H. Giberti and S. Cinquemani",
}

@article{boschetti2013,
	title={Optimal robot positioning using task-dependent and direction-selective performance indexes: General definitions and application to a parallel robot},
	author={Boschetti, G and Rosa, R and Trevisani, A},
	journal={Robotics and Computer-Integrated Manufacturing},
	volume={29},
	number={2},
	pages={431--443},
	year={2013},
	publisher={Elsevier}
}

@book{cormen2009introduction,
	title={Introduction to algorithms},
	author={Cormen, Thomas H},
	year={2009},
	publisher={MIT press}
}

@article{lopes2011optimization,
	title={Optimization of the workpiece location in a machining robotic cell},
	author={Lopes, Ant{\'o}nio M and Pires, EJ Solteiro},
	journal={International Journal of Advanced Robotic Systems},
	volume={8},
	number={6},
	pages={73},
	year={2011},
	publisher={SAGE Publications Sage UK: London, England}
}

@article{qin2019workpiece,
	title={Workpiece Pose Optimization for Milling with Flexible-Joint Robots to Improve Quasi-Static Performance},
	author={Qin, Haojie and Li, Yuwen and Xiong, Xiong},
	journal={Applied Sciences},
	volume={9},
	number={6},
	pages={1044},
	year={2019},
	publisher={Multidisciplinary Digital Publishing Institute}
}

@article{akbaripour2017semi,
  title={Semi-lazy probabilistic roadmap: a parameter-tuned, resilient and robust path planning method for manipulator robots},
  author={Akbaripour, Hossein and Masehian, Ellips},
  journal={The International Journal of Advanced Manufacturing Technology},
  volume={89},
  number={5-8},
  pages={1401--1430},
  year={2017},
  publisher={Springer}
}

@article{chen2013robot,
  title={Robot machining: recent development and future research issues},
  author={Chen, Yonghua and Dong, Fenghua},
  journal={The International Journal of Advanced Manufacturing Technology},
  volume={66},
  number={9-12},
  pages={1489--1497},
  year={2013},
  publisher={Springer}
}

@article{ji2019industrial,
  title={Industrial robotic machining: a review},
  author={Ji, Wei and Wang, Lihui},
  journal={The International Journal of Advanced manufacturing Technology},
  volume={103},
  number={1-4},
  pages={1239--1255},
  year={2019},
  publisher={Springer}
}
@article{fang2017robot,
  title={Robot path planning optimization for welding complex joints},
  author={Fang, HC and Ong, SK and Nee, AYC},
  journal={The International Journal of Advanced Manufacturing Technology},
  volume={90},
  number={9-12},
  pages={3829--3839},
  year={2017},
  publisher={Springer}
}

@article{tay1996optimising,
  title={Optimising robot workcell layout},
  author={Tay, ML and Ngoi, BKA},
  journal={The International Journal of Advanced Manufacturing Technology},
  volume={12},
  number={5},
  pages={377--385},
  year={1996},
  publisher={Springer}
}

@article{son2019convex,
  title={A convex programming approach to the base placement of a 6-DOF articulated robot with a spherical wrist},
  author={Son, Seung-Woo and Kwon, Dong-Soo},
  journal={The International Journal of Advanced Manufacturing Technology},
  volume={102},
  number={9-12},
  pages={3135--3150},
  year={2019},
  publisher={Springer}
}

@article{kamrani2009optimal,
  title={Optimal robot placement using response surface method},
  author={Kamrani, Behnam and Berbyuk, Viktor and W{\"a}ppling, Daniel and Stickelmann, Uwe and Feng, Xiaolong},
  journal={The International Journal of Advanced Manufacturing Technology},
  volume={44},
  number={1-2},
  pages={201--210},
  year={2009},
  publisher={Springer}
}


@misc{rosI:2013,
  author = {ROS Industrial Consortium},
  year = 2020,
  howpublished = {https://rosindustrial.org},
  note = {Accessed: 2020-04-30}
}

@article{LACHNER2020103722,
title = "The influence of coordinates in robotic manipulability analysis",
journal = "Mechanism and Machine Theory",
volume = "146",
pages = "103722",
year = "2020",
issn = "0094-114X",
doi = "https://doi.org/10.1016/j.mechmachtheory.2019.103722",
author = "Johannes Lachner and Vincenzo Schettino and Felix Allmendinger and Mario Daniele Fiore and Fanny Ficuciello and Bruno Siciliano and Stefano Stramigioli",
keywords = "Manipulability ellipsoids, Coordinate invariance, Tensor analysis, Metrics",
abstract = "Coordinates play an essential role in the description of real world objects and physical processes. In robotics, coordinates are used to describe the kinematic structure and the kinematic and dynamic behavior. The description mostly takes place in charts, assigned by the observer of the robotic system. However, it is crucial that the described physical process does not depend on the coordinate choice of the observer. In this work we show the relation between coordinates and manipulability analysis. Manipulability measures are dependent of joint coordinates of the robot and task coordinates in the workspace of the robot. Both relations can be analyzed with tensor geometry. We remove the dependency on joint coordinates through the use of an appropriate metric. With the help of tensor contraction, the resulting induced metric in the workspace can be transformed into a coordinate invariant matrix. After applying eigenvalue decomposition on this matrix, we can visualize the dynamic manipulability of a robot as a coordinate invariant ellipsoid."
}


@misc{blmlt360,
  author = {{BLM Group}},
  year = 2020,
  howpublished = {www.blmgroup.com/it/lasertube/lt360},
  note = {Accessed: 2020-04-30}
}

@misc{siemensPLMNX,
  author = {{Siemens, PLM NX}},
  year = 2020,
  howpublished = {www.plm.automation.siemens.com},
  note = {Accessed: 2020-04-30}
}

@misc{abbRobotStudio,
  author = {{ABB, RobotStudio}},
  year = 2020,
  howpublished = {https://new.abb.com},
  note = {Accessed: 2020-04-30}
}


@article{Nicola2018,
author = {Nicola, G. and Pedrocchi, N. and Mutti, S. and Magnoni, P. and Beschi, M.},
doi = {10.1016/j.procir.2018.03.081},
issn = {22128271},
journal = {Procedia CIRP},
keywords = {Task placement,accuracy indexes,industrial robotics,optimization algorithms},
pages = {386--391},
publisher = {Elsevier B.V.},
title = {{Optimal task positioning in multi-robot cells, using nested meta-heuristic swarm algorithms}},
volume = {72},
year = {2018}
}


@article{CHI20059,
title = "On the optimal Halton sequence",
journal = "Mathematics and Computers in Simulation",
volume = "70",
number = "1",
pages = "9 - 21",
year = "2005",
issn = "0378-4754",
doi = "https://doi.org/10.1016/j.matcom.2005.03.004",
author = "H. Chi and M. Mascagni and T. Warnock",
keywords = "Quasi-Monte Carlo, Scrambling, Correlation, Optimal Halton sequence",
}

@article{Tijdeman75,
author = {Tijdeman, Robert},
year = {1975},
month = {01},
pages = {},
title = {Review: L. Kuipers and H. Niederreiter, Uniform distribution of sequences},
volume = {81},
journal = {Bulletin of The American Mathematical Society - BULL AMER MATH SOC}
}

@article{Kocis97,
author = {Kocis, Ladislav and Whiten, William J.},
title = {Computational Investigations of Low-Discrepancy Sequences},
year = {1997},
issue_date = {June 1997},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
volume = {23},
number = {2},
issn = {0098-3500},
url = {https://doi.org/10.1145/264029.264064},
doi = {10.1145/264029.264064},
journal = {ACM Trans. Math. Softw.},
month = jun,
pages = {266–294},
numpages = {29},
keywords = {low-discrepancy sequences, discrepancy, generalized Halton sequence, Faure sequence, Monte Carlo and quasi Monte Carlo integration, Halton sequence, error of numerical integration, Sobol sequence}
}

@article{MATOUSEK1998527,
title = "On theL2-Discrepancy for Anchored Boxes",
journal = "Journal of Complexity",
volume = "14",
number = "4",
pages = "527 - 556",
year = "1998",
issn = "0885-064X",
doi = "https://doi.org/10.1006/jcom.1998.0489",
author = "Jiřı́ Matoušek",
abstract = "TheL2-discrepancy for anchored axis-parallel boxes has been used in several recent computational studies, mostly related to numerical integration, as a measure of the quality of uniform distribution of a given point set. We point out that if the number of points is not large enough in terms of the dimension (e.g., fewer than 104points in dimension 30) then nearly the lowest possibleL2-discrepancy is attained by a pathological point set, and hence theL2-discrepancy may not be very relevant for relatively small sets. Recently, Hickernell obtained a formula for the expectedL2-discrepancy of certain randomized low-discrepancy set constructions introduced by Owen. We note that his formula remains valid also for several modifications of these constructions which admit a very simple and efficient implementation. We also report results of computational experiments with various constructions of low-discrepancy sets. Finally, we present a fairly precise formula for the performance of a recent algorithm due to Heinrich for computing theL2-discrepancy."
}
  
@article{nicola2018optimal,
  title={Optimal task positioning in multi-robot cells, using nested meta-heuristic swarm algorithms},
  author={Nicola, G and Pedrocchi, N and Mutti, S and Magnoni, P and Beschi, M},
  journal={Procedia CIRP},
  volume={72},
  pages={386--391},
  year={2018},
  publisher={Elsevier}
}