Copyright Notice: This paper appears in IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, pp. 183-190, 2001. Personal use of this material is permitted. However, permission to reprint or republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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