Model based continual planning and control framework for assistive robotsAnier, Aivo; Vain, JüriPECCS 2012 : final program and book of abstracts : 2nd International Conference on Pervasive and Embedded Computing and Communication Systems, Rome, Italy, 24-26 February, 20122012 / p. 45 https://www.scitepress.org/Papers/2012/38271/38271.pdf