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IEEE Transactions on Robotics > 2012 > 28 > 2 > 341 - 350
IEEE Transactions on Industrial Electronics > 2010 > 57 > 3 > 1074 - 1087
2008 Congress on Image and Signal Processing > 3 > 363 - 366
IEEE Transactions on Automation Science and Engineering > 2008 > 5 > 2 > 223 - 233
IEEE Transactions on Control Systems Technology > 2007 > 15 > 5 > 960 - 966