@inbook {B99, title = {An experimental study of performance and fault tolerance of a hybrid free-flight control scheme}, booktitle = {Robustness in Identification and Control}, series = {LNCIS 245}, year = {1999}, pages = {449-463}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi}, editor = {A. Garulli and A. Tesi and A. Vicino} }