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Link to original content: https://dblp.org/rec/conf/iros/LiscanoG89.xml
Ramiro Liscano David A. Green Design and Implementation of a Trajectory Generator for an Indoor Mobile Robot. 380-385 1989 IROS https://doi.org/10.1109/IROS.1989.637934 conf/iros/1989 db/conf/iros/iros1989.html#LiscanoG89