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IEEE Robotics & Automation Magazine > 2008 > 15 > 2 > 77 - 88
IEEE Transactions on Robotics > 2008 > 24 > 5 > 1054 - 1065
IEEE Transactions on Robotics > 2008 > 24 > 5 > 1038 - 1053
IEEE Transactions on Robotics > 2008 > 24 > 5 > 969 - 979