@article{optimaltrajectoryplanninginaverticallyun,
  title = {Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization},
  author = {Adarsh Salagame and Eric Sihite and Alireza Ramezani},
  year = {2025},
  eprint = {2508.02953},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2508.02953},
}