Submitted on: 18 August 2020.
Revised on: 22 November 2020.
Accepted on: 21 January 2021.
___________________IEEE Robotics and Automation Letters
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Submitted on: 06 September 2009.
Revised on: 10 October 2009.
Accepted on: 05 November 2009.
___________________IEEE Robotics and Automation Letters
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