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![Cover for Adnan Tahirovic · Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning - SpringerBriefs in Control, Automation and Robotics (Pocketbok) [2013 edition] (2013)](https://imusic.b-cdn.net/images/item/original/480/9781447150480.jpg?adnan-tahirovic-2013-passivity-based-model-predictive-control-for-mobile-vehicle-motion-planning-springerbriefs-in-control-automation-and-robotics-pocketbok&class=scaled&v=1622108082)