Institution: | (1) Dept. of Pure and Applied Mathematics, Universidad Simón Bolívar, Apartado 89000, 1080-A Caracas, Venezuela;(2) Inst. for Robotics and System Dynamics, German Aerospace Research Est. (DLR), D-82230 Wessling, Germany;(3) Gustaf Söderlind, Dept. of Computer Science, Lund University, Box 118, S-221 00 Lund, Sweden |