Battilotti, SSBattilottiLanari, LLLanariASI Sponsor2020-09-172020-09-171996-01-01https://hdl.handle.net/20.500.13025/266This research was partially supported by Ministero della Ricerca Scientifica (funds 40%) and Agenzia Spaziale Italiana under contract 94RS17.enconference paper10.1109/ROBOT.1996.506937http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=50693754dcce078580fe1368eeae73