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Mathematical Problems in Engineering
Volume 2016, Article ID 2508304, 17 pages
http://dx.doi.org/10.1155/2016/2508304
Research Article

Hierarchical Task Planning for Multiarm Robot with Multiconstraint

School of Automation, Beijing University of Posts and Telecommunications, No. 10, Xitucheng Road, Haidian District, Beijing 100876, China

Received 25 March 2016; Revised 12 July 2016; Accepted 27 July 2016

Academic Editor: Francisco Gordillo

Copyright © 2016 Yifan Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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