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Mechanik > 2017 > R. 90, nr 7 > 637--639
IEEE Control Systems Magazine > 2008 > 28 > 2 > 51 - 64
IEEE Robotics & Automation Magazine > 2007 > 14 > 2 > 82 - 91
IEEE Robotics & Automation Magazine > 2007 > 14 > 3 > 99 - 110
Journal of Intelligent & Robotic Systems > 1998 > 22 > 3-4 > 331-350