Levi Rupert Timothy R. Duggan Marc D. Killpack Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement. 637301 2021 8 Frontiers Robotics AI https://doi.org/10.3389/frobt.2021.637301 db/journals/firai/firai8.html#RupertDK21