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49th IEEE Conference on Decision and Control (CDC) > 1108 - 1115
IEEE Transactions on Robotics > 2010 > 26 > 3 > 469 - 482
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2009 > 39 > 3 > 773 - 787
IEEE Transactions on Robotics > 2008 > 24 > 1 > 232 - 242