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Constraint-based task specification and estimation for sensor-based robot systems in the presence
by Joris De Schutter, Tinne De Laet, Johan Rutgeerts, Wilm Decré, Ruben Smits, Erwin Aertbeliën, Kasper Claes, Herman Bruyninckx — 2007 — The International Journal of Robotics Research
…Constraint-Based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence…
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