@article {4120, title = {On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation}, journal = {IEEE Transactions on Robotics}, volume = {37}, year = {2021}, pages = {257 - 274}, doi = {10.1109/TRO.2020.3018642}, url = {https://ieeexplore.ieee.org/document/9194321}, author = {A. Mannucci and D. Caporale and L. Pallottino} }