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IEEE Transactions on Vehicular Technology > 2011 > 60 > 3 > 819 - 829
IEEE Control Systems > 2010 > 30 > 2 > 18 - 25
IEEE Transactions on Vehicular Technology > 2009 > 58 > 8 > 3930 - 3937
IEEE Transactions on Industrial Electronics > 2008 > 55 > 6 > 2482 - 2488