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D. Lee, Franchi, A., Son, H. Il, Bülthoff, H. H., and Giordano, P. Robuffo, Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles, IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics, vol. 18, pp. 1334-1345, 2013.