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Electronics Letters > 2016 > 52 > 21 > 1748 - 1749
IET Intelligent Transport Systems > 2015 > 9 > 2 > 156 - 166
IEEE Transactions on Robotics > 2011 > 27 > 2 > 334 - 345
IEEE Transactions on Robotics > 2011 > 27 > 2 > 201 - 214