Submitted on: 19 April 2007.
Revised on: 26 June 2007.
Accepted on: 29 July 2007.
___________________IEEE Robotics and Automation Letters
Submitted on: 09 March 2014.
Revised on: 16 June 2014.
Accepted on: 04 July 2014.
___________________IEEE Robotics and Automation Letters
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Submitted on: 15 September 2014.
Revised on: 30 December 2014.
Accepted on: 16 February 2015.
___________________IEEE Robotics and Automation Letters
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Submitted on: 01 October 2006.
Revised on: 09 January 2007.
Accepted on: 08 March 2007.
___________________IEEE Robotics and Automation Letters
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