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2017 29th Chinese Control And Decision Conference (CCDC) > 5419 - 5423
IEEE Transactions on Robotics > 2017 > 33 > 1 > 198 - 213
IEEE Transactions on Robotics > 2016 > 32 > 1 > 150 - 160
IEEE Transactions on Robotics > 2011 > 27 > 2 > 268 - 282