@article{Galicki:2005,
  author  = "M. Galicki",
  title   = "Control-based solution to inverse kinematics for mobile manipulators using penalty functions",
  journal = "Journal of Intelligent and Robotic Systems",
  volume  = "Vol. 42",
  number  = "no 3",
  pages   = "213--238",
  year    = "2005",
}