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Trajectory Real-time Optimization Based on Variable Node Inverse Dynamics in the Virtual Domain
YAN Liang, LI Yuan, ZHAO Jiguang, DU Xiaoping
ACTA AERONAUTICAET ASTRONAUTICA SINICA . 2013, (12): 2794 -2803 .  DOI: 10.7527/S1000-6893.2013.0360