https://hal.inria.fr/cel-02130071 Contributor : Principia RoboticaConnect in order to contact the contributor Submitted on : Wednesday, May 15, 2019 - 3:16:34 PM Last modification on : Friday, February 4, 2022 - 10:20:07 AM Long-term archiving on: : Monday, August 19, 2019 - 11:06:13 AM