@article{antonelli2011constrained,
	title        = {Constrained motion planning for open-chain industrial robots},
	author       = {Antonelli, Gianluca and Curatella, Cataldo and Marino, Alessandro},
	year         = 2011,
	journal      = {Robotica},
	publisher    = {Cambridge University Press},
	volume       = 29,
	number       = 3,
	pages        = {403--420}
}

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