Paper  doi  bibtex   

@Conference{	  antonelli1998399,
  author	= {Antonelli, G. and Chiaverini, S.},
  title		= {Singularity-free regulation of underwater
		  vehicle-manipulator systems},
  journal	= {Proceedings of the American Control Conference},
  year		= {1998},
  volume	= {1},
  pages		= {399-403},
  doi		= {10.1109/ACC.1998.694699},
  art_number	= {694699},
  note		= {cited By 29},
  url		= {https://www.scopus.com/inward/record.uri?eid=2-s2.0-84881351997&doi=10.1109%2fACC.1998.694699&partnerID=40&md5=f328af8629c324843d36b29d46c9ad27},
  document_type	= {Conference Paper},
  source	= {Scopus}
}