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IEEE Robotics and Automation Letters > 2016 > 1 > 2 > 724 - 731
IEEE Transactions on Robotics > 2015 > 31 > 4 > 936 - 947
IEEE Transactions on Robotics > 2014 > 30 > 2 > 421 - 431
IEEE Transactions on Robotics > 2012 > 28 > 1 > 12 - 21
IEEE Transactions on Automatic Control > 2009 > 54 > 10 > 2405 - 2410
2008 47th IEEE Conference on Decision and Control > 4992 - 4997