@incollection{Sanmiguel_FaultBook20,
  author = {Miguel, A. San and Puig, V. and Aleny{\`a}, G.},
  booktitle = {Fault Diagnosis and Fault-tolerant Control of Robotic Systems},
  title = {Fault-tolerant control of a service robot},
  chapter = {2},
  year = {2020},
  publisher = {The Institution of Engineering and Technology},
  url = {http://www.iri.upc.edu/publications/show/2222},
  file = {http://www.iri.upc.edu/download/scidoc/2222},
  isbn = {978-1-78561-830-7}
}