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. Author manuscript; available in PMC: 2020 Oct 6.
Published in final edited form as: IEEE Robot Autom Lett. 2020;5(2):https://doi.org/10.1109/lra.2020.2965869.
Permitted:  Not Permitted:
• Use of multiple end-effectors • Manual changing of systems
• Use of multiple robots within a system • Manual or teleoperated intervention