?url_ver=Z39.88-2004&rft_id=10.1109%2F87.799665&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.au=Bemporad%2C+Alberto&rft.volume=7&rft.title=IEEE+Transactions+on+Control+Systems+Technology&rft.atitle=Predictive+path+parameterization+for+constrained+robot+control&rft.date=November+1999&rft.pages=648-656&rft.issue=6&rft.issn=1063-6536&rft.genre=article