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Uncertainty-Driven Spiral Trajectory for Robotic Peg-in-Hol..:

Kang, Hanwen ; Zang, Yaohua ; Wang, Xing.
IEEE Robotics and Automation Letters.  7 (2022)  3 - p. 6661-6668 , 2022
Link: https://doi.org/10.1109/lra.2022.3176718