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IEEE Transactions on Robotics > 2015 > 31 > 1 > 31 - 39
IEEE Transactions on Robotics > 2014 > 30 > 5 > 1234 - 1241
21st Mediterranean Conference on Control and Automation > 1575 - 1582
IEEE Transactions on Industrial Electronics > 2012 > 59 > 10 > 3979 - 3986