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D. Abdlkarim, V. Ortenzi, T. Pardi, M. Filipovica, A. Wing, K. Kuchenbecker, and M. Di Luca. Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO, page 60-68. INSTICC, SciTePress, (2021)
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