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C. Röhrig, F. Künemund, C. Kirsch, and D. Heß, “Fast and Accurate Trajectory Generation for Non-Circular Omnidirectional Robots in Industrial Applications,” in Proceedings of the 7th German Conference on Robotics ROBOTIK 2012, Munich: VDE/Messe München, 2012, pp. 377–382. Available: https://ieeexplore.ieee.org/document/6309638