deletions | additions       diff --git a/furthermore_modern_robotic_systems_may__.tex b/furthermore_modern_robotic_systems_may__.tex  index 4448d6c..39d894b 100644  --- a/furthermore_modern_robotic_systems_may__.tex  +++ b/furthermore_modern_robotic_systems_may__.tex 
...
furthermore, modern robotic systems may handle the tasks of navigation and localization in real-time for different fields of application, thanks to the arrival of new computing hardware and a new generation of sensors. Today, it is not unimaginable to deploy autonomous industrial robotic logistic systems, transportation robots, flying drones or other autonomous robotic systems anywhere, where there is a possible demand.  This is one of the reasons why \citet{vachalek2015collision} decided to design and construct a prototype of a mobile robotic system (MRS), which could be used as a platform to evaluate various technological concepts. Problems related to mobile robotics, such as localization, navigation, control communication, hardware and software issues were evaluated on this platform, with the results offering the possibility to perfect and inspire new generations of robots. The MRS is therefore in essence a technology demonstrator, using a plethora of interesting and atypical design and engineering solutions, such as the use of holonomic omni-directional (Meccanum) wheels, a combination of different sensors (tactile, ultrasound, infrared, optical, laser), redundant communication interfaces and others. As the main aim of this article is to discuss the collision-free manipulation of objects using a 3D optical system for localization and navigation purposes, we will introduce select technical and construction details of this robotic system.  As presented in MRS, the collision free manipulation as applied to the robot has to be ensured for the objects with rotation capabilities in order to avoid complications in overall performance of the robot. The collision detection is implemented on two levels, first is when the MRS researchers base it on the numerically determined values using the inverse kinematic problem and second is when they use the measured values coming from the sensors. The use of