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IEEE ICCA 2010 > 370 - 375
IEEE Robotics & Automation Magazine > 2009 > 16 > 1 > 24 - 33
IEEE Robotics & Automation Magazine > 2009 > 16 > 1 > 46 - 54
2008 Chinese Control and Decision Conference > 2825 - 2830
IEEE Robotics & Automation Magazine > 2008 > 15 > 1 > 62 - 70