Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. - Jorgen Sverdrup-Thygeson; Signe Moe; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (CCTA, 2017)

Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix. - Morten F. Amundsen; Jorgen Sverdrup-Thygeson; Eleni Kelasidi; Kristin Ytterstad Pettersen (ECC, 2018)