Author: Sungwan Kim, Myungjoon Kim, Chiwon Lee Journal: Journal of Institute of Control, Robotics and Systems Vol. 30, No. 4, pp. 438-447, Mar. 2024 https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART003068648