@inproceedings{nori2005control,
  title={Control of a manipulator with a minimum number of motion primitives},
  author={Nori, Francesco and Frezza, Ruggero},
  booktitle={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  pages={2344--2349},
  year={2005},
  organization={IEEE}
}

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