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IEEE Transactions on Automation Science and Engineering > 2009 > 6 > 2 > 345 - 361
IEEE Transactions on Robotics > 2008 > 24 > 2 > 390 - 401
IEEE Transactions on Automation Science and Engineering > 2009 > 6 > 2 > 345 - 361
IEEE Transactions on Robotics > 2008 > 24 > 2 > 390 - 401