A Framework for Real-Time Autonomous Robotic Sorting and Segregation of Nuclear Waste: Modelling, Identification and Control of Dexter^TM Robot by Mithun Poozhiyil, Omer F. Argin, Mini Rai, Amir G. Esfahani, Marc Hanheide, Ryan King, Phil Saunderson, Mike Moulin-Ramsden, Wen Yang, Laura Palacio García, Iain Mackay, Abhishek Mishra, Sho Okamoto, Kelvin Yeung

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