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R. Avvenente, Khan, A., Li, X., Zoppi, M., Zlatanov, D., and Molfino, R. M., “Development and analysis of a shape-conformable supporting head for a self-reconfigurable intelligent swarm fixture system”, in Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010, 2010, pp. 792–799.