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IEEE Transactions on Automatic Control > 2009 > 54 > 5 > 979 - 987
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2009 > 39 > 2 > 389 - 398
IEEE Transactions on Intelligent Transportation Systems > 2006 > 7 > 4 > 500 - 512
Proceedings of the 2004 American Control Conference > 2 > 1522 - 1527 vol.2