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IEEE Transactions on Robotics > 2015 > 31 > 4 > 1018 - 1032
IEEE Transactions on Automation Science and Engineering > 2015 > 12 > 3 > 835 - 849
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2011 > 41 > 1 > 248 - 259