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Minimum-energy trajectory planning and control on a straight line with rotation for three-wheeled omni-directional mobile robots

Hongjun Kim, Byung Kook Kim. Minimum-energy trajectory planning and control on a straight line with rotation for three-wheeled omni-directional mobile robots. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 3119-3124, IEEE, 2012. [doi]

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