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F. Becchi, Molfino, R. M., and Razzoli, R. P., Safety design of a petrol pump attendant robot, Industrial Robot: An International Journal, vol. 32, pp. 393–400, 2005.
F. Becchi, Michelini, R. C., Molfino, R. M., and Razzoli, R. P., SARA: a robotic system for cars fuelling, Journal of Intelligent and Robotic Systems, vol. 32, pp. 37–54, 2001.