Submitted on: 16 March 2006.
Revised on: 03 May 2006.
Accepted on: 24 June 2006.
___________________International Journal of Advanced Robotic Systems
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Submitted on: 18 December 2009.
Revised on: 07 March 2010.
Accepted on: 04 April 2010.
___________________International Journal of Advanced Robotic Systems
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Submitted on: 29 October 2016.
Revised on: 14 December 2016.
Accepted on: 02 January 2017.
___________________International Journal of Advanced Robotic Systems
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