https://hal.inria.fr/cel-02130231 Contributor : Principia RoboticaConnect in order to contact the contributor Submitted on : Wednesday, May 15, 2019 - 4:30:43 PM Last modification on : Monday, May 16, 2022 - 4:46:03 PM Long-term archiving on: : Monday, August 19, 2019 - 12:52:14 PM