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IEEE Transactions on Robotics > 2009 > 25 > 5 > 1058 - 1073
IEEE Transactions on Robotics > 2009 > 25 > 3 > 701 - 716
IEEE Transactions on Automatic Control > 2008 > 53 > 9 > 2116 - 2122
IEEE Transactions on Automatic Control > 1999 > 44 > 1 > 112 - 115