@article {4120,
	title = {On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation},
	journal = {IEEE Transactions on Robotics},
	volume = {37},
	year = {2021},
	pages = {257 - 274},
	doi = {10.1109/TRO.2020.3018642},
	url = {https://ieeexplore.ieee.org/document/9194321},
	author = {A. Mannucci and D. Caporale and L. Pallottino}
}
