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IEEE Transactions on Robotics > 2017 > 33 > 3 > 536 - 546
IET Computer Vision > 2017 > 11 > 1 > 50 - 59
IET Control Theory & Applications > 2014 > 8 > 18 > 2199 - 2206
IEEE Transactions on Control Systems Technology > 2012 > 20 > 6 > 1450 - 1460