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  2. Convex Optimization Approach for Time-Optimal Path Tracking of Robots …

    www-sigproc.eng.cam.ac.uk/foswiki/pub/Main/TA417Publications/ArdeshiriNLH2011.pdf
    18 Sep 2012: 23). or in matrix form as. Tτk Uk1/2bk1/2 P (24). If we add the new constraint in Equation (24) to thecontinuous time-optimal path tracking problem it resultsin,.

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