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Model predictive controller–based spatiotemporal path track..:

Dannangoda Gamage, Kanishka Madusanka ; Gopura, R.A. Ruwan C. ; Amarasinghe, Y.W. Ranjith.
The International Journal of Medical Robotics and Computer Assisted Surgery.  15 (2019)  3 - p. , 2019
Link: https://doi.org/10.1002/rcs.1980