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@ARTICLE{,
    author = {Cruz-Martín, Ana and Muñoz Martínez, V. F. and García-Cerezo, Alfonso},
     title = {A mobile robots trajectory planning approach under motion restrictions},
   journal = {Integrated Computer-Aided Engineering},
    volume = {6},
    number = {4},
      year = {1999},
     pages = {331--348}
}