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IEEE Transactions on Robotics > 2009 > 25 > 3 > 502 - 511
IEEE Transactions on Industrial Electronics > 2009 > 56 > 9 > 3296 - 3304
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2007 > 37 > 4 > 863 - 876
Journal of Intelligent & Robotic Systems > 1999 > 26 > 1 > 91-100