@article{Galicki:2009,
author
=
"M.Galicki",
title
=
"Control-based solution to inverse kinematics for mobile manipulators using penalty functions",
journal
=
"Journal of Intelligent and Robotic Systems: Theory and Applications",
volume
=
"Vol. 42",
number
=
"no 3",
pages
=
"213--238",
year
=
"2005",
}