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This paper was reprinted from Proceedings, 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Kobe, Japan, p. 1081-1084, and may be found at http://dx.doi.org/10.1109/CIRA.2003.1222147
Copyright (2003) IEEE
Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, 3: 1081-1084