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D. Nakhaeinia, R. Fareh, P. Payeur, R. Laganière, "Trajectory Planning for Surface Following with a Manipulator under RGB-D Visual Guidance", Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), pp. 1-6, Linkoping, Sweden, 24-26 Oct. 2013.