Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations. Nori, F. In 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR), pages 371–377, 2017. IEEE.
bibtex   
@inproceedings{nori2017inverse,
  title={Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations},
  author={Nori, Francesco},
  booktitle={2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)},
  pages={371--377},
  year={2017},
  organization={IEEE}
}
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