Submitted on: 26 June 2009.
Revised on: 12 October 2009.
Accepted on: 20 November 2009.
___________________IEEE Robotics and Automation Letters
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Submitted on: 24 February 2012.
Revised on: 22 June 2012.
Accepted on: 20 July 2012.
___________________IEEE Robotics and Automation Letters
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Submitted on: 11 August 2008.
Revised on: 22 October 2008.
Accepted on: 27 November 2008.
___________________IEEE Robotics and Automation Letters
Submitted on: 06 August 2010.
Revised on: 05 September 2010.
Accepted on: 19 September 2010.
___________________IEEE Robotics and Automation Letters
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Submitted on: 05 May 2009.
Revised on: 26 July 2009.
Accepted on: 12 September 2009.
___________________IEEE Robotics and Automation Letters