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Journal of KONES > 2015 > Vol. 22, No. 4 > 15--20
Journal of Intelligent & Robotic Systems > 2012 > 65 > 1-4 > 563-586
Journal of Intelligent & Robotic Systems > 2011 > 61 > 1-4 > 369-397
IEEE Systems Journal > 2009 > 3 > 3 > 331 - 335
Proceedings of the IEEE > 2007 > 95 > 1 > 92 - 107