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IEEE ICCA 2010 > 192 - 197
IEEE Transactions on Intelligent Transportation Systems > 2008 > 9 > 3 > 438 - 450
Proceedings of the 2004 American Control Conference > 4 > 3399 - 3404 vol.4
Proceedings of the 2004 American Control Conference > 6 > 5338 - 5343 vol.6