Dimitrios Katsoulas Ales Jaklic Fast Recovery of Piled Deformable Objects Using Superquadrics. 174-181 2002 conf/dagm/2002 DAGM-Symposium http://link.springer.de/link/service/series/0558/bibs/2449/24490174.htm db/conf/dagm/dagm2002.html#KatsoulasJ02