Prioritized optimal control. Del Prete, A.; Romano, F.; Natale, L.; Metta, G.; Sandini, G.; and Nori, F. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 2540–2545, 2014. IEEE.
bibtex   
@inproceedings{del2014prioritized,
  title={Prioritized optimal control},
  author={Del Prete, Andrea and Romano, Francesco and Natale, Lorenzo and Metta, Giorgio and Sandini, Giulio and Nori, Francesco},
  booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={2540--2545},
  year={2014},
  organization={IEEE}
}
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