@misc{rosolia2020unified,
  title={Unified multi-rate control: from low level actuation to high level planning},
  author={Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D},
  journal={arXiv preprint arXiv:2012.06558},
  year={2020},
  url = {http://ames.caltech.edu/rosolia2020unified.pdf}
}

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