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IEEE Transactions on Control Systems Technology > 2014 > 22 > 1 > 246 - 254
IEEE Transactions on Robotics > 2014 > 30 > 3 > 652 - 665
IEEE Transactions on Automatic Control > 2014 > 59 > 5 > 1115 - 1130
IEEE Transactions on Automatic Control > 2014 > 59 > 4 > 876 - 891
Robotics and Autonomous Systems > 2013 > 61 > 12 > 1350-1359
49th IEEE Conference on Decision and Control (CDC) > 6034 - 6039