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Procedia Computer Science > 2018 > 133 > C > 1005-1013
IEEE Robotics & Automation Magazine > 2017 > 24 > 3 > 146 - 156
IEEE Transactions on Intelligent Transportation Systems > 2017 > 18 > 7 > 1662 - 1686
IEEE Access > 2017 > 5 > 4329 - 4339