Franziska Zacharias Christoph Borst Michael Beetz Gerd Hirzinger Positioning mobile manipulators to perform constrained linear trajectories. 2578-2584 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650617 conf/iros/2008 db/conf/iros/iros2008.html#ZachariasBBH08