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IEEE Transactions on Control Systems Technology > 2011 > 19 > 1 > 166 - 180
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2009 > 39 > 3 > 788 - 799
IEEE Transactions on Robotics > 2009 > 25 > 2 > 451 - 458