Almeida, A.T. de2022-03-022022-03-022012978-1-4673-1737-5978-1-4673-1736-8978-1-4673-1735-1https://publica.fraunhofer.de/handle/publica/154581IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. Conference Proceedings. Vol.8