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IEEE Transactions on Robotics > 2016 > 32 > 3 > 566 - 582
IEEE Transactions on Control Systems Technology > 2016 > 24 > 2 > 541 - 552
IEEE Transactions on Robotics > 2016 > 32 > 1 > 113 - 124
IEEE/ASME Transactions on Mechatronics > 2015 > 20 > 6 > 2654 - 2665
2015 54th IEEE Conference on Decision and Control (CDC) > 2495 - 2500