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MPC on manifolds with an application to SE(3)

Uros Kalabic, Rohit Gupta 0004, Stefano Di Cairano, Anthony M. Bloch, Ilya V. Kolmanovsky. MPC on manifolds with an application to SE(3). In 2016 American Control Conference, ACC 2016, Boston, MA, USA, July 6-8, 2016. pages 7-12, IEEE, 2016. [doi]

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