@article{maric2021riemannian,
  title={A Riemannian metric for geometry-aware singularity avoidance by articulated robots},
  author={Mari{\'c}, Filip and Petrovi{\'c}, Luka and Guberina, Marko and Kelly, Jonathan and Petrovi{\'c}, Ivan},
  journal={Robotics and Autonomous Systems},
  volume={145},
  pages={103865},
  year={2021},
  publisher={Elsevier}
}

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