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Model predictive control for a Mecanum-wheeled robot naviga..:

Moreno Caireta, Iñigo ; Celaya Llover, Enric ; Ros Giralt, Lluís
https://www.sciencedirect.com/science/article/pii/S2405896321013082?via%3Dihub.  , 2021
Link: http://hdl.handle.net/2117/367011