Statistical Motion Planning for Mobile Robots: Paradigms for Efficiency and Optimality using a Discrete Model. IEEE International Conference on Systems, Man and Cybernetics. :1239–1244.. 1997.
Acquisition of Obstacle Motion Patterns to Improve Mobile Robot Motion Planning. Advanced Robotics. 12:565–578.. 1998.
Intelligent Mobile Robot Guidance in Time-Varying Environments by using a Global Monitoring System. 3rd IFAC Symposium on Intelligent Autonomous Vehicles. :509–514.. 1998.