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Submitted on: 02 May 2003.
Revised on: 27 July 2003.
Accepted on: 24 September 2003.
___________________INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
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Submitted on: 07 January 2014.
Revised on: 01 February 2014.
Accepted on: 13 March 2014.
___________________INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
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