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IEEE Transactions on Automatic Control > 2009 > 54 > 4 > 830 - 834
IEEE Transactions on Robotics > 2009 > 25 > 1 > 196 - 205
IEEE Transactions on Automatic Control > 2009 > 54 > 4 > 830 - 834
IEEE Transactions on Robotics > 2009 > 25 > 1 > 196 - 205