@techreport{e2c50c553cce4c46b018b17689665f8f,
title = "Optimal path planning for a trolley crane: fast and smooth transfer of load",
keywords = "final time optimization, minimum energy, optimal control, optimal speed reference, pilot crane experiments, trolley crane, final time optimization, minimum energy, optimal control, optimal speed reference, pilot crane experiments, trolley crane, final time optimization, minimum energy, optimal control, optimal speed reference, pilot crane experiments, trolley crane",
author = "H{\"a}m{\"a}l{\"a}inen, \{Jari J.\} and Arto Marttinen and Lina Baharova and Jouko Virkkunen",
year = "1993",
language = "English",
isbn = "951-22-1919-0",
series = "Helsinki University of Technology, Control Engineering Laboratory",
publisher = "Teknillinen korkeakoulu",
number = "Report 95",
pages = "27",
address = "Finland",
type = "WorkingPaper",
institution = "Teknillinen korkeakoulu",
}