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IEEE Transactions on Intelligent Vehicles > 2017 > 2 > 4 > 298 - 307
IEEE Transactions on Pattern Analysis and Machine Intelligence > 2017 > 39 > 5 > 951 - 964
IEEE Transactions on Robotics > 2016 > 32 > 6 > 1431 - 1443
2011 Chinese Control and Decision Conference (CCDC) > 2431 - 2435
Proceedings of the 2004 American Control Conference > 2 > 1277 - 1282 vol.2