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F. Künemund, D. Heß, and C. Röhrig, “Energy-efficient kinodynamic motion planning for holonomic AGVs in industrial applications using state lattices,” in Proceedings of the 47th International Symposium on Robotics (ISR), Frankfurt am Main: VDE, 2016, pp. 459–466. Available: https://ieeexplore.ieee.org/document/7559154