@incollection{eprints599,
           title = {On-line path parameterization for manipulators with input/state constraints},
          author = {Alberto Bemporad and Tzyh-Jong Tarn},
            year = {1997},
         journal = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics ?97},
       booktitle = {International Conference on Advanced Intelligent Mechatronics },
           pages = {91},
       publisher = {IEEE/ASME},
        abstract = {This paper addresses the problem of satisfying input/state constraints for robotic systems tracking a given geometric path. According to a prediction of the evolution of the robot from the current state, a discrete-time device called \{em Path Governor\} (PG) generates on line a suitable time-parameterization of the path to be tracked, by solving at fixed intervals a constrained scalar optimization problem. Higher level switching commands are also taken into account by simply associating a different optimization criterion to each mode of operation.},
             url = {http://eprints.imtlucca.it/599/}
}