@incollection{Sanmiguel_FaultBook20,
author = {San-Miguel, A. 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}
}