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homepages/78/3741 journals/automatica/MeurerK09 conf/cdc/WagnerMK08 conf/cdc/GraichenPK08 conf/icra/OttKN08 conf/iros/WimbockOAKH08 journals/trob/KugiOAH08 conf/icra/OttAKSH04 conf/icra/OttAKH03 conf/snsc/SchlacherKZ01
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