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Řezáč, Martin, and Zdeněk Hurák. "Low-cost inertial estimation unit based on extended Kalman filtering." In Proc. SPIE Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI. Vol. 7696. Orlando, Florida, USA : SPIE, 2010.
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Hurák, Zdeněk. l1 optimal control - a polynomial approach In Faculty of Electrical Engineering. Czech Technical University in Prague, 2004.