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IEEE Transactions on Systems, Man, and Cybernetics: Systems > 2016 > 46 > 3 > 434 - 439
IEEE ICCA 2010 > 1019 - 1024
IEEE Transactions on Robotics > 2010 > 26 > 5 > 925 - 932
IEEE Transactions on Robotics > 2009 > 25 > 5 > 1030 - 1046
01989 American Control Conference > 1989 > 1005 - 1013
01988 American Control Conference > 1988 > 1382 - 1386