Abstract
This work has been partially supported by the Spanish Ministerio de Ciencia e Innovación TIN2011-27512-C05-04 and AIB2010PT-00149, and by the Junta de Extremadura projects IB10062. The authors also gratefully acknowledge support from Institute of Systems and Robotics at University of Coimbra (ISR-UC), Portuguese Foundation for Science and Technology (FCT) [SFRH/BD/60954/2009].
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