CoDE	Co-evolutionary improved DE
C-Space	Configuration space
DE	Differential evolution
DOF	Degree of freedom
IK-based	Inverse-kinematics-based
MAE	Mean absolute error
MPC	Model predictive control
NSP	Null space projection
PSO	Particle Swarm Optimization
QP	Quadratic programming
RMSE	Root mean square error
RRT	Rapidly exploring random tree
SQP	Sequential quadratic programming
UDP	User datagram protocol
UKF	Unscented Kalman filter
W-Space RRT*	Workspace-based RRT*