AUTONOMOUS ROBOTS, vol. 24, no. 3, page. 315 - 335, 2008-04
INTELLIGENT AUTOMATION AND SOFT COMPUTING, vol. 13, no. 3, page. 319 - 336, 2007-01
AUTONOMOUS ROBOTS, vol. 21, no. 2, page. 143 - 154, 2006-09
INTELLIGENT AUTOMATION AND SOFT COMPUTING, vol. 12, no. 4, page. 397 - 410, 2006-01