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In: Proceedings for the Joint Conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics). International Symposium on Robotics (ISR-2010) June 7-9 Munich Germany Pages 564-571 ISBN 978-3-8007-3273-9 VDE Verlag GmbH 6/2010.

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German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz