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IEEE Transactions on Intelligent Transportation Systems > 2012 > 13 > 1 > 354 - 364
IEEE Journal of Oceanic Engineering > 2011 > 36 > 3 > 386 - 405
IEEE Transactions on Robotics > 2011 > 27 > 3 > 586 - 598
2008 47th IEEE Conference on Decision and Control > 4164 - 4169