@inproceedings{GMB:99a,
        author={M. Goel and A. A. Maciejewski and V. Balakrishnan},
	title={The design of control strategies tolerant to undetected failures
in kinematically redundant manipulators},
   booktitle = {International Conference on Robotics and
       Automation},
   year      = {1999},
   month     = may,
   address   = {Detroit, MI}
   pages     = {867-873}
}