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A fault-tolerant control algorithm having a decentralized autonomous architecture for space hyper-redundant manipulators

S. Kimura, M. Takahashi, Tohru Okuyama, Seiji Tsuchiya, Y. Suzuki. A fault-tolerant control algorithm having a decentralized autonomous architecture for space hyper-redundant manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part A, 28(4):521-527, 1998.

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