Surprisingly not labeled as 2012, but see <a href="http:&#x2F;&#x2F;repository.cmu.edu&#x2F;cgi&#x2F;viewcontent.cgi?article=1772&amp;context=robotics" rel="nofollow">http:&#x2F;&#x2F;repository.cmu.edu&#x2F;cgi&#x2F;viewcontent.cgi?article=1772&amp;c...</a>.