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M. Stampa, C. Röhrig, and F. Künemund, "Estimation of energy consumption on arbitrary trajectories of an omnidirectional automated guided vehicle," in 2015 IEEE 8th international conference on intelligent data acquisition and advanced computing systems : technology and applications (IDAACS) : 24-26 Sept. 2015, Piscataway, NJ: IEEE, 2015, pp. 873-878.