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This combination results in the algorithm which solves the primary motion planning task simultaneously with one or more secondary tasks ordered in accordance with decreasing priorities. The performance of the task-priority motion planning algorithm has been illustrated with computer simulations of the motion planning problem for a container ship.<\/jats:p>","DOI":"10.1017\/s0263574709990737","type":"journal-article","created":{"date-parts":[[2009,12,11]],"date-time":"2009-12-11T05:34:05Z","timestamp":1260509645000},"page":"885-892","source":"Crossref","is-referenced-by-count":11,"title":["Task-priority motion planning of underactuated systems: an endogenous configuration space approach"],"prefix":"10.1017","volume":"28","author":[{"given":"Adam","family":"Ratajczak","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joanna","family":"Karpi\u0144ska","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Krzysztof","family":"Tcho\u0144","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,12,11]]},"reference":[{"key":"S0263574709990737_ref13","volume-title":"Generalized Inverses Theory and Applications","author":"Ben-Israel","year":"2003"},{"key":"S0263574709990737_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.585902"},{"key":"S0263574709990737_ref2","first-page":"855","volume-title":"Proceedings IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2001)","author":"De Luca","year":"2001"},{"key":"S0263574709990737_ref12","volume-title":"Underwater Robots \u2013 Motion and Force Control of Vehicle-Manipulator Systems","author":"Antonelli","year":"2003"},{"key":"S0263574709990737_ref1","first-page":"135","volume-title":"Control Problems in Robotics and Automation (Lecture Notes in Control and Information Sciences 230)","author":"Spong","year":"1997"},{"key":"S0263574709990737_ref14","volume-title":"Optimization by Vector Space Methods","author":"Luenberger","year":"1999"},{"key":"S0263574709990737_ref11","unstructured":"11. 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