@article{stochasticprocessesandfeedback,
  title = {Stochastic processes and feedback-linearisation for online identification and Bayesian adaptive control of fully-actuated mechanical systems},
  author = {Jan-Peter Calliess and Antonis Papachristodoulou and Stephen J. Roberts},
  year = {2013},
  eprint = {1311.4468},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1311.4468v3},
}