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IEEE Robotics and Automation Letters > 2016 > 1 > 2 > 716 - 723
IEEE Transactions on Robotics > 2015 > 31 > 6 > 1419 - 1431
2015 54th IEEE Conference on Decision and Control (CDC) > 2780 - 2785
2015 54th IEEE Conference on Decision and Control (CDC) > 2767 - 2772