著者名,論文名,雑誌名,ISSN,出版者名,出版日付,巻,号,ページ,URL,URL(DOI)
T. Nagata and I. Hara,Describing moving spherical obstacle in a configuration space,Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91,,IEEE,2002-12-09,,,589-594,https://cir.nii.ac.jp/crid/1872553968049054976,https://doi.org/10.1109/iros.1991.174540