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IEEE Transactions on Control Systems Technology > 2016 > 24 > 4 > 1328 - 1339
IEEE Robotics and Automation Letters > 2016 > 1 > 2 > 661 - 667
IEEE Robotics and Automation Letters > 2016 > 1 > 2 > 884 - 891
IEEE Intelligent Systems > 2016 > 31 > 3 > 86 - 96