{
  "abstract": "Various aspects of techniques, systems, and use cases may be used for camera and end-effector planning for visual servoing for example in redundant manipulators. A technique may include generating a set of paths of an end effector of a robotic arm, and ranking the set of paths using an objective function that results in an improvement to a distance between the end effector and a target while maintaining a collision mitigation path for the end effector and minimizing occlusion of a camera affixed to a joint of the robotic arm. The technique may include converting a path of the set of paths into a trajectory based on the ranking, and outputting the trajectory for controlling the robotic arm to move the end effector.",
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    "CAMPOS MACIAS LEOBARDO",
    "FELIP LEON JAVIER",
    "GOMEZ GUTIERREZ DAVID",
    "GONZALEZ AGUIRRE DAVID",
    "TUREK JAVIER"
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  "title": "Camera and end-effector planning for visual servoing",
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