autores Fernando Lobo Pereira Dias, P.S. Pinto, J. Gonçalves, R. Gonçalves, G. Sousa, J.B. Pereira, F.L.
Digital Object Identifier (DOI) https://doi.org/10.1109/robot.2007.363887 https://doi.org/10.1109/robot.2007.363887