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IEEE Robotics and Automation Letters > 2017 > 2 > 4 > 2135 - 2142
IEEE Access > 2017 > 5 > 7702 - 7713
IEEE Transactions on Automation Science and Engineering > 2016 > 13 > 2 > 591 - 599
IEEE Robotics and Automation Letters > 2016 > 1 > 1 > 213 - 220