@inproceedings{CASE-2015-BjorkenstamCL,
	author        = "Staffan Bjorkenstam and Johan S. Carlson and Bengt Lennartson",
	booktitle     = "{Proceedings of the 11th International Conference on Automation Science and Engineering}",
	doi           = "10.1109/CoASE.2015.7294174",
	isbn          = "978-1-4673-8183-3",
	pages         = "769--774",
	publisher     = "{IEEE}",
	title         = "{Exploiting sparsity in the discrete mechanics and optimal control method with application to human motion planning}",
	year          = 2015,
}