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IEEE Access > 2017 > 5 > 27091 - 27102
IET Intelligent Transport Systems > 2014 > 8 > 7 > 621 - 630
IEEE Transactions on Autonomous Mental Development > 2010 > 2 > 4 > 282 - 303
IEEE Robotics & Automation Magazine > 2010 > 17 > 2 > 74 - 84