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Cukla, AR, R. S. Peres, J. Barata, RC Izquierdo, EA Perondi, and FJ Lorini. "A systematic approach to trajectory planning applied to modular robots." \i Mechatronics and its Applications (ISMA), 2015 10th International Symposium on\i0 . IEEE,  2015. 1-6.\par \par }