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IEEE Transactions on Vehicular Technology > 2009 > 58 > 8 > 4098 - 4107
IET Control Theory & Applications > 2008 > 2 > 3 > 181 - 191
IEEE Transactions on Robotics > 2007 > 23 > 6 > 1277 - 1285
2006 6th World Congress on Intelligent Control and Automation > 2 > 8876 - 8880