Michael C. Koval, Nancy S. Pollard, Siddhartha S. Srinivasa. Manifold Representations for State Estimation in Contact Manipulation. In Masayuki Inaba, Peter Corke, editors, Robotics Research - The 16th International Symposium ISRR, 16-19 December 2013, Singapore. Volume 114 of Springer Tracts in Advanced Robotics, pages 375-391, Springer, 2013. [doi]
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