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IEEE Transactions on Cybernetics > 2017 > 47 > 11 > 3504 - 3515
IEEE Transactions on Automation Science and Engineering > 2017 > 14 > 2 > 646 - 657
IEEE Transactions on Robotics > 2015 > 31 > 3 > 672 - 681
IEEE Transactions on Industrial Electronics > 2014 > 61 > 9 > 4771 - 4779