Submitted on: 10 September 2022.
Revised on: 13 October 2022.
Accepted on: 03 December 2022.
___________________INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
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Submitted on: 02 October 2012.
Revised on: 27 December 2012.
Accepted on: 25 January 2013.
___________________INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH