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Proc. IEEE Int. Conf. Robotics and Automation, Washington DC, May 11-15, 2002, 2599-2605 Exploiting Task Regularities to Transform Between Reference Frames in Rob ot Teams Richard T. Vaughan HRL Lab oratories LLC, Malibu, California 90265, USA Kasp er Sty, Gaurav S. Sukhatme, Ma ja J. Mataric University of Sout