Cartesian space motion planning for robots. An industrial implementation. - Gianluca Antonelli; Stefano Chiaverini; Marco Palladino; Gian Paolo Gerio; Gerardo Renga (RoMoCo, 2004)

SmartMove4: an industrial implementation of trajectory planning for robots. - Gianluca Antonelli; Stefano Chiaverini; Gian Paolo Gerio; Marco Palladino; Gerardo Renga (Ind. Robot, 2007)