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IEEE Transactions on Robotics > 2009 > 25 > 6 > 1304 - 1318
IEEE Transactions on Control Systems Technology > 2008 > 16 > 6 > 1218 - 1231
IEEE Transactions on Robotics > 2009 > 25 > 6 > 1304 - 1318
IEEE Transactions on Control Systems Technology > 2008 > 16 > 6 > 1218 - 1231