Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

Diederik Verscheure, Bram Demeulenaere, Jan Swevers, Joris De Schutter, Moritz Diehl. Time-Optimal Path Tracking for Robots: A Convex Optimization Approach. IEEE Trans. Automat. Contr., 54(10):2318-2327, 2009. [doi]

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