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IEEE Transactions on Control Systems Technology > 2017 > 25 > 1 > 278 - 285
2016 IEEE 55th Conference on Decision and Control (CDC) > 3825 - 3830
IEEE Transactions on Robotics > 2016 > 32 > 6 > 1309 - 1332
2016 IEEE 55th Conference on Decision and Control (CDC) > 6204 - 6209