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![Cover for John Baillieul · Essays on Mathematical Robotics - The IMA Volumes in Mathematics and its Applications (Paperback Book) [Softcover reprint of the original 1st ed. 1998 edition] (2012)](https://imusic.b-cdn.net/images/item/original/519/9781461272519.jpg?john-baillieul-2012-essays-on-mathematical-robotics-the-ima-volumes-in-mathematics-and-its-applications-paperback-book&class=scaled&v=1508362078)