József Kövecses William L. Cleghorn Robert G. Fenton Modeling and Dynamic Performance Evaluation of Target Capture in Robotic Systems. 365-382 2000 19 Int. J. Robotics Res. 4 https://doi.org/10.1177/02783640022066914 db/journals/ijrr/ijrr19.html#KovecsesCF00