@conference {BBL92,
	title = {Trajectory Planning of Industrial Robots in a Structured Environment},
	booktitle = {Int. Conf. on CAD/CAM, Robotics and Factories of the Future},
	year = {1992},
	address = {Metz, France},
	keywords = {Embedded Control, Robotics},
	author = {A. Balestrino and A. Bicchi and A. Landi}
}
