Revisit and compare Ma equivalence and Zhang equivalence of minimum velocity norm (MVN) type

@article{Qiu2016RevisitAC,
  title={Revisit and compare Ma equivalence and Zhang equivalence of minimum velocity norm (MVN) type},
  author={Binbin Qiu and Yunong Zhang and Zhi Yang},
  journal={Advanced Robotics},
  year={2016},
  volume={30},
  pages={416-430}
}