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Motion planning for mobile manipulators with a non-holonomic constraint using the FSP (full space parameterization) method

François G. Pin, Kristi A. Morgansen, Faithlyn A. Tulloch, Charles J. Hacker, Kathryn B. Gower. Motion planning for mobile manipulators with a non-holonomic constraint using the FSP (full space parameterization) method. J. Field Robotics, 13(11):723-736, 1996. [doi]

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