Joris De Schutter, Tinne De Laet, Johan Rutgeerts, Wilm Decré, Ruben Smits, Erwin Aertbeliën, Kasper Claes, Herman Bruyninckx. Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty. I. J. Robotic Res., 26(5):433-455, 2007. [doi]
Abstract is missing.