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Chapter 2.2 was originally published in Journal of Intelligent and Robotic Systems, 2009, Vol. 55 Issue 4–5 and is reprinted with permission of Springer Science + Business Media
Chapter 2.3 was originally published in Autonomous Robots, 2006, Vol. 21 Issue 1 and is reprinted with permission of Springer Science + Business Media
Chapter 2.5 was originally published in International Journal of Information Acquisition, ...
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