AUTONOMOUS ROBOTS, vol. 7, no. 2, page. 187 - 200, 1999-09
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, vol. 146, no. 2, page. 165 - 170, 1999-03
INTELLIGENT AUTOMATION AND SOFT COMPUTING, vol. 5, no. 4, page. 267 - 278, 1999-01