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2020 – today
- 2024
[j26]Enrico Franco
, Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero:
Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances. IEEE Control. Syst. Lett. 8: 568-573 (2024)- [j25]Jonathan Cacace, Vincenzo Scognamiglio, Fabio Ruggiero, Vincenzo Lippiello:
Motor Fault Detection and Isolation for Multi-Rotor UAVs Based on External Wrench Estimation and Recurrent Deep Neural Network. J. Intell. Robotic Syst. 110(4): 148 (2024) - [j24]Simone D'Angelo, Antonio Corrado, Fabio Ruggiero, Jonathan Cacace, Vincenzo Lippiello:
Stabilization and control on a pipe-rack of a wheeled mobile manipulator with a snake-like arm. Robotics Auton. Syst. 171: 104554 (2024) - [j23]Giancarlo D'Ago, Mario Selvaggio, Alejandro Suárez, Francisco Javier Gañán, Luca Rosario Buonocore, Mario Di Castro, Vincenzo Lippiello, Aníbal Ollero, Fabio Ruggiero:
Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems. Robotics Auton. Syst. 175: 104643 (2024) - [c48]Vincenzo Scognamiglio, Jonathan Cacace, Fabio Ruggiero, Vincenzo Lippiello:
Fault Detection and Isolation for a Standard Quadrotor Using a Deep Neural Network Trained on a Momentum-based Estimator. CASE 2024: 730-735 - [c47]Julien Mellet, Andrea Berra, Achilleas Santi Seisa, Viswa Narayanan Sankaranarayanan, Udayanga G. W. K. N. Gamage, Miguel Angel Trujillo Soto, Guillermo Heredia, George Nikolakopoulos, Vincenzo Lippiello, Fabio Ruggiero:
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction. RoboSoft 2024: 1048-1053 - [i6]Aníbal Ollero, Alejandro Suárez, Christos Papaioannidis, Ioannis Pitas, Juan M. Marredo, Viet Duong Hoang, Emad Ebeid, Vít Krátký, Martin Saska, Chloe Hanoune, Amr Afifi, Antonio Franchi, Charalampos Vourtsis, Dario Floreano, Goran Vasiljevic, Stjepan Bogdan, Alvaro Caballero, Fabio Ruggiero, Vincenzo Lippiello, Carlos Matilla, Giovanni Cioffi, Davide Scaramuzza, José Ramiro Martinez de Dios, Begoña C. Arrue, Carlos Martín, Krzysztof Zurad, Carlos Gaitan, Jacob Rodriguez, Antonio Munoz, Antidio Viguria:
AERIAL-CORE: AI-Powered Aerial Robots for Inspection and Maintenance of Electrical Power Infrastructures. CoRR abs/2401.02343 (2024) - [i5]Julien Mellet, Andrea Berra, Salvatore Marcellini, Miguel Angel Trujillo Soto, Guillermo Heredia, Fabio Ruggiero, Vincenzo Lippiello:
Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction. CoRR abs/2410.09003 (2024) - [i4]Julien Mellet, Andrea Berra, Achilleas Santi Seisa, Viswa Narayanan Sankaranarayanan, Udayanga G. W. K. N. Gamage, Miguel Angel Trujillo Soto, Guillermo Heredia, George Nikolakopoulos, Vincenzo Lippiello, Fabio Ruggiero:
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction. CoRR abs/2410.15797 (2024) - [i3]Andrea Berra, Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa, Julien Mellet, Udayanga G. W. K. N. Gamage, Sumeet Gajanan Satpute, Fabio Ruggiero, Vincenzo Lippiello, Silvia Tolu, Matteo Fumagalli, George Nikolakopoulos, Miguel Angel Trujillo Soto, Guillermo Heredia:
Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers. CoRR abs/2410.15802 (2024) - 2023
- [j22]Rajesh Subburaman, Mario Selvaggio, Fabio Ruggiero:
A Non-Prehensile Object Transportation Framework With Adaptive Tilting Based on Quadratic Programming. IEEE Robotics Autom. Lett. 8(6): 3581-3588 (2023) - [j21]Viviana Morlando, Jonathan Cacace, Fabio Ruggiero:
Online Feet Potential Fields for Quadruped Robots Navigation in Harsh Terrains. Robotics 12(3): 86 (2023) - [j20]Mario Selvaggio, Akash Garg, Fabio Ruggiero, Giuseppe Oriolo, Bruno Siciliano:
Non-Prehensile Object Transportation via Model Predictive Non-Sliding Manipulation Control. IEEE Trans. Control. Syst. Technol. 31(5): 2231-2244 (2023) - [c46]Julien Mellet, Jonathan Cacace, Fabio Ruggiero, Vincenzo Lippiello:
Neural-Network for Position Estimation of a Cable-Suspended Payload Using Inertial Quadrotor Sensing. ICINCO (1) 2023: 80-87 - [c45]Andrea Fimiani, Pierluigi Arpenti, Matteo Gatti, Fabio Ruggiero:
Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning. ICINCO (1) 2023: 640-647 - [c44]Viviana Morlando, Vincenzo Lippiello, Fabio Ruggiero:
Tethering a Human with a Quadruped Robot: A Guide Dog to Help Visually Impaired People. MED 2023: 547-553 - 2022
- [j19]Yousef Farid, Bruno Siciliano, Fabio Ruggiero:
Review and descriptive investigation of the connection between bipedal locomotion and non-prehensile manipulation. Annu. Rev. Control. 53: 51-69 (2022) - [j18]Mario Selvaggio, Jonathan Cacace, Claudio Pacchierotti, Fabio Ruggiero, Paolo Robuffo Giordano:
A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation. IEEE Trans. Robotics 38(1): 569-583 (2022) - [c43]Maolin Lei, Mario Selvaggio, Ting Wang, Fabio Ruggiero, Cheng Zhou, Chen Yao, Yu Zheng:
Dual-arm Object Transportation via Model Predictive Control and External Disturbance Estimation. CASE 2022: 2328-2334 - [c42]Ainoor Teimoorzadeh, Alejandro Donaire, Pierluigi Arpenti, Fabio Ruggiero:
Robust energy shaping for mechanical systems with dissipative forces and disturbances. ECC 2022: 1409-1414 - [c41]Viviana Morlando, Mario Selvaggio, Fabio Ruggiero:
Nonprehensile Object Transportation with a Legged Manipulator. ICRA 2022: 6628-6634 - [c40]Giancarlo D'Ago, Marie Lefebvre, Luca Rosario Buonocore, Fabio Ruggiero, Mario Di Castro, Vincenzo Lippiello:
Modelling and control of a variable-length flexible beam on inspection ground robot. ICRA 2022: 8224-8230 - [c39]Filippo Bertoncelli, Mario Selvaggio, Fabio Ruggiero, Lorenzo Sabattini:
Task-Oriented Contact Optimization for Pushing Manipulation with Mobile Robots. IROS 2022: 1639-1646 - [c38]Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello:
Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots. IROS 2022: 6739-6745 - [c37]Damiano Morra, Enric Cervera, Luca Rosario Buonocore, Jonathan Cacace, Fabio Ruggiero, Vincenzo Lippiello, Mario Di Castro:
Visual control through narrow passages for an omnidirectional wheeled robot. MED 2022: 551-556 - [c36]Viviana Morlando, Fabio Ruggiero:
Disturbance rejection for legged robots through a hybrid observer. MED 2022: 743-748 - [p8]Jung-Tae Kim, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Smoothed Particle Hydrodynamics-Based Viscous Deformable Object Modelling. Robot Dynamic Manipulation 2022: 73-102 - [p7]Alejandro Gutierrez-Giles, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive. Robot Dynamic Manipulation 2022: 113-128 - [p6]Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Holonomic Rolling Nonprehensile Manipulation Primitive. Robot Dynamic Manipulation 2022: 129-157 - [p5]Alejandro Gutierrez-Giles, Aykut C. Satici, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Nonholonomic Rolling Nonprehensile Manipulation Primitive. Robot Dynamic Manipulation 2022: 159-205 - [p4]Aykut C. Satici, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
A Coordinate-Free Framework for Robotic Pizza Tossing and Catching. Robot Dynamic Manipulation 2022: 207-227 - [p3]Jung-Tae Kim, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin. Robot Dynamic Manipulation 2022: 229-253 - [e2]Bruno Siciliano, Fabio Ruggiero:
Robot Dynamic Manipulation - Perception of Deformable Objects and Nonprehensile Manipulation Control. Springer Tracts in Advanced Robotics 144, Springer 2022, ISBN 978-3-030-93289-3 [contents] - 2021
- [j17]Yousef Farid, Fabio Ruggiero:
Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots. Robotics Auton. Syst. 144: 103836 (2021) - [c35]Pierluigi Arpenti, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello:
Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics framework. HUMANOIDS 2021: 415-421 - [c34]Eugenio Cuniato, Jonathan Cacace, Mario Selvaggio, Fabio Ruggiero, Vincenzo Lippiello:
A hardware-in-the-loop simulator for physical human-aerial manipulator cooperation. ICAR 2021: 830-835 - [c33]Filippo Bertoncelli, Fabio Ruggiero, Lorenzo Sabattini:
Characterization of Grasp Configurations for Multi-Robot Object Pushing. MRS 2021: 38-46 - [i2]Yousef Farid, Fabio Ruggiero:
Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots. CoRR abs/2101.04974 (2021) - 2020
- [c32]Pierluigi Arpenti, Fabio Ruggiero, Vincenzo Lippiello:
Interconnection and Damping Assignment Passivity-Based Control for Gait Generation in Underactuated Compass-Like Robots. ICRA 2020: 9802-9808 - [c31]Filippo Bertoncelli, Fabio Ruggiero, Lorenzo Sabattini:
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot. ICRA 2020: 11032-11038 - [i1]Filippo Bertoncelli, Fabio Ruggiero, Lorenzo Sabattini:
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot. CoRR abs/2003.10247 (2020)
2010 – 2019
- 2019
- [j16]Suping Zhao, Fabio Ruggiero, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Zhanxia Zhu, Bruno Siciliano:
Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe. IEEE Robotics Autom. Lett. 4(4): 4314-4321 (2019) - [j15]Diana Serra, Fabio Ruggiero, Alejandro Donaire, Luca Rosario Buonocore, Vincenzo Lippiello, Bruno Siciliano:
Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach. IEEE Trans. Robotics 35(2): 317-329 (2019) - [c30]Alejandro Gutiérrez-Giles, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Closed-loop Control of a Nonprehensile Manipulation System Inspired by the Pizza-Peel Mechanism. ECC 2019: 1580-1585 - [c29]Jonathan Cacace, Fabio Ruggiero, Vincenzo Lippiello:
Hierarchical Task-Priority Control for Human-Robot Co-manipulation. HFR 2019: 125-138 - [c28]Pierluigi Arpenti, Diana Serra, Fabio Ruggiero, Vincenzo Lippiello:
Control of the TORA System through the IDA-PBC without Explicit Solution of Matching Equations. IRC 2019: 381-385 - [p2]Fabio Ruggiero:
Decentralized Control of Aerial Manipulators Through a Momentum-Based Estimator. Aerial Robotic Manipulation 2019: 159-174 - [e1]Fanny Ficuciello, Fabio Ruggiero, Alberto Finzi:
Human Friendly Robotics, 10th International Workshop, HFR 2017, Naples, Italy, November 6-7, 2017. Springer Proceedings in Advanced Robotics 7, Springer 2019, ISBN 978-3-319-89326-6 [contents] - 2018
- [j14]Alejandro Gutierrez-Giles, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Nonprehensile Manipulation of an Underactuated Mechanical System With Second-Order Nonholonomic Constraints: The Robotic Hula-Hoop. IEEE Robotics Autom. Lett. 3(2): 1136-1143 (2018) - [j13]Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Nonprehensile Dynamic Manipulation: A Survey. IEEE Robotics Autom. Lett. 3(3): 1711-1718 (2018) - [j12]Vincenzo Lippiello, Giuseppe Andrea Fontanelli, Fabio Ruggiero:
Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator. IEEE Robotics Autom. Lett. 3(3): 1856-1863 (2018) - [j11]Fabio Ruggiero, Vincenzo Lippiello, Aníbal Ollero:
Aerial Manipulation: A Literature Review. IEEE Robotics Autom. Lett. 3(3): 1957-1964 (2018) - [j10]Fabio Ruggiero, Vincenzo Lippiello, Aníbal Ollero:
Introduction to the Special Issue on Aerial Manipulation. IEEE Robotics Autom. Lett. 3(3): 2734-2737 (2018) - [j9]Fabio Ruggiero, Antoine Petit, Diana Serra, Aykut C. Satici, Jonathan Cacace, Alejandro Donaire, Fanny Ficuciello, Luca Rosario Buonocore, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Luigi Villani, Bruno Siciliano:
Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project. IEEE Robotics Autom. Mag. 25(3): 83-92 (2018) - [j8]Fabio Vigoriti, Fabio Ruggiero, Vincenzo Lippiello, Luigi Villani:
Control of redundant robot arms with null-space compliance and singularity-free orientation representation. Robotics Auton. Syst. 100: 186-193 (2018) - [c27]Fabio Ruggiero, Jung-Tae Kim, Alejandro Gutierrez-Giles, Aykut C. Satici, Alejandro Donaire, Jonathan Cacace, Luca Rosario Buonocore, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Bruno Siciliano:
Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project. ICINCO (Selected Papers) 2018: 76-100 - [c26]Diana Serra, Joel Ferguson, Fabio Ruggiero, Andrea Siniscalco, Antoine Petit, Vincenzo Lippiello, Bruno Siciliano:
On the Experiments About the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate. MED 2018: 13-20 - 2017
- [j7]Alejandro Donaire, Fabio Ruggiero, Luca Rosario Buonocore, Vincenzo Lippiello, Bruno Siciliano:
Passivity-Based Control for a Rolling-Balancing System: The Nonprehensile Disk-on-Disk. IEEE Trans. Control. Syst. Technol. 25(6): 2135-2142 (2017) - [c25]Fabio Vigoriti, Fabio Ruggiero, Vincenzo Lippiello, Luigi Villani:
Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour. HFR 2017: 15-28 - 2016
- [j6]Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano:
The Effect of Shapes in Input-State Linearization for Stabilization of Nonprehensile Planar Rolling Dynamic Manipulation. IEEE Robotics Autom. Lett. 1(1): 492-499 (2016) - [c24]Aykut C. Satici, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Intrinsic Euler-Lagrange dynamics and control analysis of the ballbot. ACC 2016: 5685-5690 - [c23]Martín Crespo, Alejandro Donaire, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System. ICINCO (2) 2016: 79-89 - [c22]Diana Serra, Aykut C. Satici, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
An Optimal Trajectory Planner for a Robotic Batting Task: The Table Tennis Example. ICINCO (2) 2016: 90-101 - [c21]Alejandro Donaire, Martín Crespo, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
Passivity-Based Control Design and Experiments for a Rolling-Balancing System. ICINCO (Selected Papers) 2016: 230-255 - [c20]Diana Serra, Fabio Ruggiero, Aykut C. Satici, Vincenzo Lippiello, Bruno Siciliano:
Time-Optimal Paths for a Robotic Batting Task. ICINCO (Selected Papers) 2016: 256-276 - [c19]Aykut C. Satici, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano:
A coordinate-free framework for robotic pizza tossing and catching. ICRA 2016: 3932-3939 - [c18]Vincenzo Lippiello, Fabio Ruggiero:
Orbital stabilization of a VToL UAV for landing on oscillating platforms. SSRR 2016: 131-138 - 2015
- [j5]Fabio Ruggiero, Jonathan Cacace, Hamid Sadeghian, Vincenzo Lippiello:
Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics. Robotics Auton. Syst. 72: 139-151 (2015) - [j4]Pierluigi Cigliano, Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano:
Robotic Ball Catching with an Eye-in-Hand Single-Camera System. IEEE Trans. Control. Syst. Technol. 23(5): 1657-1671 (2015) - [c17]Fabio Ruggiero, Miguel Angel Trujillo, Raul Cano, H. Ascorbe, Antidio Viguria, C. Peréz, Vincenzo Lippiello, Aníbal Ollero, Bruno Siciliano:
A multilayer control for multirotor UAVs equipped with a servo robot arm. ICRA 2015: 4014-4020 - 2014
- [c16]Fabio Ruggiero, Jonathan Cacace, Hamid Sadeghian, Vincenzo Lippiello:
Impedance control of VToL UAVs with a momentum-based external generalized forces estimator. ICRA 2014: 2093-2099 - [c15]Vincenzo Lippiello, Fabio Ruggiero, Diana Serra:
Emergency landing for a quadrotor in case of a propeller failure: A backstepping approach. IROS 2014: 4782-4788 - [c14]Vincenzo Lippiello, Fabio Ruggiero, Diana Serra:
Emergency landing for a quadrotor in case of a propeller failure: A PID based approach. SSRR 2014: 1-7 - 2013
- [j3]Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano:
3D monocular robotic ball catching. Robotics Auton. Syst. 61(12): 1615-1625 (2013) - [j2]Fabrizio Caccavale, Vincenzo Lippiello, Giuseppe Muscio, Francesco Pierri, Fabio Ruggiero, Luigi Villani:
Grasp planning and parallel control of a redundant dual-arm/hand manipulation system. Robotica 31(7): 1169-1194 (2013) - [j1]Ji-Chul Ryu, Fabio Ruggiero, Kevin M. Lynch:
Control of Nonprehensile Rolling Manipulation: Balancing a Disk on a Disk. IEEE Trans. Robotics 29(5): 1152-1161 (2013) - [c13]Vincenzo Lippiello, Rafik Mebarki, Fabio Ruggiero:
Visual coordinated landing of a UAV on a mobile robot manipulator. SSRR 2013: 1-7 - 2012
- [c12]Ji-Chul Ryu, Fabio Ruggiero, Kevin M. Lynch:
Control of nonprehensile rolling manipulation: Balancing a disk on a disk. ICRA 2012: 3232-3237 - [c11]Vincenzo Lippiello, Fabio Ruggiero:
3D monocular robotic ball catching with an iterative trajectory estimation refinement. ICRA 2012: 3950-3955 - [c10]Vincenzo Lippiello, Fabio Ruggiero:
Exploiting redundancy in Cartesian impedance control of UAVs equipped with a robotic arm. IROS 2012: 3768-3773 - [c9]Vincenzo Lippiello, Fabio Ruggiero:
Monocular Eye-In-Hand Robotic Ball Catching with Parabolic Motion Estimation. SyRoCo 2012: 229-234 - [c8]Vincenzo Lippiello, Fabio Ruggiero:
Cartesian Impedance Control of a UAV with a Robotic Arm. SyRoCo 2012: 704-709 - [c7]Mahdi Momeni-K., Sotirios Ch. Diamantas, Fabio Ruggiero, Bruno Siciliano:
Height Estimation from a Single Camera View. VISAPP (1) 2012: 358-364 - [p1]Luigi Villani, Fanny Ficuciello, Vincenzo Lippiello, Gianluca Palli, Fabio Ruggiero, Bruno Siciliano:
Grasping and Control of Multi-Fingered Hands. Advanced Bimanual Manipulation 2012: 219-266 - 2011
- [c6]Fabrizio Caccavale, Vincenzo Lippiello, Giuseppe Muscio, Francesco Pierri, Fabio Ruggiero, Luigi Villani:
Kinematic control with force feedback for a redundant bimanual manipulation system. IROS 2011: 4194-4200 - 2010
- [b1]Fabio Ruggiero:
Grasp and manipulation of objects with a multi-fingered hand in unstructured environments. University of Naples Federico II, Italy, 2010 - [c5]Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano, Luigi Villani:
Preshaped visual grasp of unknown objects with a multi-fingered hand. IROS 2010: 5894-5899
2000 – 2009
- 2009
- [c4]Vincenzo Lippiello, Fabio Ruggiero, Luigi Villani:
Exploiting redundancy in closed-loop inverse kinematics for dexterous object manipulation. ICAR 2009: 1-6 - [c3]Vincenzo Lippiello, Fabio Ruggiero:
Surface model reconstruction of 3D objects from multiple views. ICRA 2009: 2400-2405 - [c2]Vincenzo Lippiello, Fabio Ruggiero, Luigi Villani:
Floating visual grasp of unknown objects. IROS 2009: 1290-1295 - [c1]Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano:
Floating Visual Grasp of Unknown Objects Using an Elastic Reconstruction Surface. ISRR 2009: 329-344
Coauthor Index
[j25] [j24] [j23] [c48] [c47] [i6] [i5] [i4] [i3] [c46] [c44] [c40] [c38] [c37] [p8] [p7] [p6] [p5] [p4] [p3] [c35] [c34] [c32] [j16] [j15] [c30] [c29] [c28] [j14] [j13] [j12] [j11] [j10] [j9] [j8] [c27] [c26] [j7] [c25] [j6] [c24] [c23] [c22] [c21] [c20] [c19] [c18] [j5] [j4] [c17] [c16] [c15] [c14] [j3] [j2] [c13] [c11] [c10] [c9] [c8] [p1] [c6] [c5] [c4] [c3] [c2] [c1]
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