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IEEE Robotics & Automation Magazine > 2008 > 15 > 2 > 48 - 57
IEEE Transactions on Robotics > 2007 > 23 > 4 > 704 - 716
IEEE Robotics & Automation Magazine > 2008 > 15 > 2 > 48 - 57
IEEE Transactions on Robotics > 2007 > 23 > 4 > 704 - 716