Torsten Kröger On-Line Trajectory Generation in Robotic Systems - Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events 58 2010 1-184 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/978-3-642-05175-3 978-3-642-05174-6 db/series/star/index.html#Kroger10