@techreport{Ardeshirietal:10,
    author = "Ardeshiri, Tohid and Norrl{\"{o}}f, Mikael and L{\"{o}}fberg, Johan and Hansson, Anders",
    title = "Convex Optimization approach for Time-Optimal Path Tracking of Robots with Speed Dependent Constraints",
    institution = "Department of Electrical Engineering, Linköping University",
    year = "2010",
    month = Oct,
    address = "SE-581 83 Linköping, Sweden",
    URL = "http://www.control.isy.liu.se/publications/doc?id=2335",
    number = "LiTH-ISY-R-2970",
    howpublished = "Submitted to  IFAC World Congress 2011",
}