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IEEE Transactions on Robotics > 2012 > 28 > 2 > 277 - 290
IEEE Transactions on Robotics > 2012 > 28 > 4 > 922 - 931
IEEE Transactions on Robotics > 2011 > 27 > 4 > 730 - 740
IEEE Transactions on Robotics > 2011 > 27 > 2 > 201 - 214