Daniel E. Koditschek

Orcid: 0000-0001-5188-1352

Affiliations:
  • University of Pennsylvania, Philadelphia, USA


According to our database1, Daniel E. Koditschek authored at least 191 papers between 1977 and 2023.

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Bibliography

2023
Stability of a Groucho-Style Bounding Run in the Sagittal Plane.
Robotics, June, 2023

Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami.
IEEE Trans. Robotics, April, 2023

Technical Report on: Tripedal Dynamic Gaits for a Quadruped Robot.
CoRR, 2023

Anchoring Sagittal Plane Templates in a Spatial Quadruped.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022
Reactive navigation in partially familiar planar environments using semantic perceptual feedback.
Int. J. Robotics Res., 2022

Technical Report on: Anchoring Sagittal Plane Templates in a Spatial Quadruped.
CoRR, 2022

Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments.
CoRR, 2022

Tendon-Driven Auxetic Tubular Springs for Resilient Hopping Robots.
Adv. Intell. Syst., 2022

Mode-Reactive Template-Based Control in Planar Legged Robots.
IEEE Access, 2022

A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021
Motivation Dynamics for Autonomous Composition of Navigation tasks.
IEEE Trans. Robotics, 2021

Conley's Fundamental Theorem for a Class of Hybrid Systems.
SIAM J. Appl. Dyn. Syst., 2021

Virtual Energy Management for Physical Energy Savings in a Legged Robot Hopping on Granular Media.
Frontiers Robotics AI, 2021

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence.
CoRR, 2021

Hybrid dynamical type theories for navigation.
CoRR, 2021

Necessary conditions for feedback stabilization and safety.
CoRR, 2021

What Is Robotics? Why Do We Need It and How Can We Get It?
Annu. Rev. Control. Robotics Auton. Syst., 2021

Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020
Autonomous Stairwell Ascent.
Robotica, 2020

Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback.
IEEE Robotics Autom. Lett., 2020

Modulation of Robot Orientation Via Leg-Obstacle Contact Positions.
IEEE Robotics Autom. Lett., 2020

A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots.
IEEE Robotics Autom. Lett., 2020

An obstacle disturbance selection framework: emergent robot steady states under repeated collisions.
Int. J. Robotics Res., 2020

Examples of Gibsonian Affordances in Legged Robotics Research Using an Empirical, Generative Framework.
Frontiers Neurorobotics, 2020

Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments.
CoRR, 2020

Technical Report: A New Hopping Controller for Highly Dynamical Bipeds.
CoRR, 2020

Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback.
CoRR, 2020

A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection.
Proceedings of the 3rd IEEE International Conference on Soft Robotics, 2020

Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Data Foraging: Spatiotemporal Data Collection Decisions in Disciplinary Field Science.
Proceedings of the 42th Annual Meeting of the Cognitive Science Society, 2020

2019
Task-Based Control and Design of a BLDC Actuator for Robotics.
IEEE Robotics Autom. Lett., 2019

Sensor-based reactive navigation in unknown convex sphere worlds.
Int. J. Robotics Res., 2019

Formal composition of hybrid systems.
CoRR, 2019

Towards a terramechanics for bio-inspired locomotion in granular environments.
CoRR, 2019

A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots.
CoRR, 2019

Composition of Templates for Transitional Pedipulation Behaviors.
Proceedings of the Robotics Research, 2019

Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Navigation Functions for Convex Potentials in a Space With Convex Obstacles.
IEEE Trans. Autom. Control., 2018

A Dynamical System for Prioritizing and Coordinating Motivations.
SIAM J. Appl. Dyn. Syst., 2018

Autonomous legged hill ascent.
J. Field Robotics, 2018

Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting.
Int. J. Robotics Res., 2018

A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability.
Int. J. Robotics Res., 2018

Iterated Belief Revision Under Resource Constraints: Logic as Geometry.
CoRR, 2018

Technical Report: Reactive Navigation in Partially Known Non-Convex Environments.
CoRR, 2018

Reactive Navigation in Partially Known Non-convex Environments.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media.
Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2018

Actuator Transparency and the Energetic Cost of Proprioception.
Proceedings of the 2018 International Symposium on Experimental Robotics, 2018

Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Analytically-Guided Design of a Tailed Bipedal Hopping Robot.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Sensor-Based Reactive Symbolic Planning in Partially Known Environments.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Discriminative measures for comparison of phylogenetic trees.
Discret. Appl. Math., 2017

Morphology and the gradient of a symmetric potential predict gait transitions of dogs.
Biol. Cybern., 2017

Sensor-based legged robot homing using range-only target localization.
Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 2017

Towards Reactive Control of Transitional Legged Robot Maneuvers.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Sensory steering for sampling-based motion planning.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Empirical validation of a spined sagittal-plane quadrupedal model.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Smooth extensions of feedback motion planners via reference governors.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation.
IEEE Trans. Robotics, 2016

Coordinated Robot Navigation via Hierarchical Clustering.
IEEE Trans. Robotics, 2016

Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows.
SIAM J. Appl. Dyn. Syst., 2016

Design Principles for a Family of Direct-Drive Legged Robots.
IEEE Robotics Autom. Lett., 2016

On the Optimality of Napoleon Triangles.
J. Optim. Theory Appl., 2016

A hybrid systems model for simple manipulation and self-manipulation systems.
Int. J. Robotics Res., 2016

A Hybrid Dynamical Extension of Averaging.
CoRR, 2016

Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot.
Proceedings of the International Symposium on Experimental Robotics, 2016

Frontal plane stabilization and hopping with a 2DOF tail.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Mobile robots as remote sensors for spatial point process models.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Voronoi-based coverage control of heterogeneous disk-shaped robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Exact robot navigation using power diagrams.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015
Universal Memory Architectures for Autonomous Machines.
CoRR, 2015

The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates.
CoRR, 2015

An empirical investigation of legged transitional maneuvers leveraging Raibert's Scissor algorithm.
Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, 2015

Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped.
Proceedings of the Robotics Research, 2015

A drift-diffusion model for robotic obstacle avoidance.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Leg design for energy management in an electromechanical robot.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Tail-assisted rigid and compliant legged leaping.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Parallel composition of templates for tail-energized planar hopping.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Coordinated Navigation of Multiple Independent Disk-Shaped Robots.
IEEE Trans. Robotics, 2014

Anytime Hierarchical Clustering.
CoRR, 2014

Navigation of Distinct Euclidean Particles via Hierarchical Clustering.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

Towards a Comparative Measure of Legged Agility.
Proceedings of the Experimental Robotics, 2014

Active sensing for dynamic, non-holonomic, robust visual servoing.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Legged Self-Manipulation.
IEEE Access, 2013

Toward a vocabulary of legged leaping.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Toward dynamical sensor management for reactive wall-following.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Convergence of Bayesian histogram filters for location estimation.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

2012
A bioinspired dynamical vertical climbing robot.
Int. J. Robotics Res., 2012

Multistable phase regulation for robust steady and transitional legged gaits.
Int. J. Robotics Res., 2012

Standing self-manipulation for a legged robot.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Dynamical trajectory replanning for uncertain environments.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Toward a memory model for autonomous topological mapping and navigation: The case of binary sensors and discrete actions.
Proceedings of the 50th Annual Allerton Conference on Communication, 2012

Hierarchically clustered navigation of distinct Euclidean particles.
Proceedings of the 50th Annual Allerton Conference on Communication, 2012

2011
Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
Characterization of Dynamic Behaviors in a Hexapod Robot.
Proceedings of the Experimental Robotics, 2010

On the Comparative Analysis of Locomotory Systems with Vertical Travel.
Proceedings of the Experimental Robotics, 2010

Disturbance detection, identification, and recovery by gait transition in legged robots.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

2009
Gait Transitions for Quasi-static Hexapedal Locomotion on Level Ground.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

A self-exciting controller for high-speed vertical running.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Rapid pole climbing with a quadrupedal robot.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

A distributed dynamical scheme for fastest mixing Markov chains.
Proceedings of the American Control Conference, 2009

2008
Biologically inspired climbing with a hexapedal robot.
J. Field Robotics, 2008

A Physical Model for Dynamical Arthropod Running on Level Ground.
Proceedings of the Experimental Robotics, The Eleventh International Symposium, 2008

2007
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems.
Int. J. Robotics Res., 2007

Design of a Bio-inspired Dynamical Vertical Climbing Robot.
Proceedings of the Robotics: Science and Systems III, 2007

Heterogeneous Leg Stiffness and Roll in Dynamic Running.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006
Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits.
IEEE Trans. Robotics, 2006

The Dynamics of Legged Locomotion: Models, Analyses, and Challenges.
SIAM Rev., 2006

2005
A leg configuration measurement system for full-body pose estimates in a hexapod robot.
IEEE Trans. Robotics, 2005

Level sets and stable manifold approximations for perceptually driven non-holonomically constrained navigation.
Adv. Robotics, 2005

2004
Feedback-based event-driven parts moving.
IEEE Trans. Robotics, 2004

Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot.
Int. J. Robotics Res., 2004

Stability Analysis of a Clock-Driven Rigid-Body SLIP Model for RHex.
Int. J. Robotics Res., 2004

Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps.
Int. J. Robotics Res., 2004

Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod.
Proceedings of the Algorithmic Foundations of Robotics VI, 2004

A framework for the coordination of legged robot gaits.
Proceedings of the 2004 IEEE Conference on Robotics, Automation and Mechatronics, 2004

Legged Odometry from Body Pose in a Hexapod Robot.
Proceedings of the Experimental Robotics IX, 2004

Level sets and stable manifold approximations for perceptually driven nonholonomically constrained navigation.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

Toward a 6 DOF body state estimator for a hexapod robot with dynamical gaits.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

Automated Gait Adaptation for Legged Robots.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Hybrid zero dynamics of planar biped walkers.
IEEE Trans. Autom. Control., 2003

A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations.
SIAM J. Numer. Anal., 2003

A Simply Stabilized Running Model.
SIAM J. Appl. Dyn. Syst., 2003

Template based control of hexapedal running.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Visual registration and navigation using planar features.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

A leg configuration sensory system for dynamical body state estimates in a hexapod robot.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Towards a Factored Analysis of Legged Locomotion Models.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002
Visual servoing via navigation functions.
IEEE Trans. Robotics Autom., 2002

Safe Cooperative Robot Dynamics on Graphs.
SIAM J. Control. Optim., 2002

Phase Regulation of Decentralized Cyclic Robotic Systems.
Int. J. Robotics Res., 2002

Brachiation on a ladder with irregular intervals.
Adv. Robotics, 2002

Back Flips with a Hexapedal Robot.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies.
Robotica, 2001

RHex: A Simple and Highly Mobile Hexapod Robot.
Int. J. Robotics Res., 2001

Editorial: Special Issue on the Ninth International Symposium of Robotics Research.
Int. J. Robotics Res., 2001

RHex: A Biologically Inspired Hexapod Runner.
Auton. Robots, 2001

Proprioception Based Behavioral Advances in a Hexapod Robot.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Stability of Coupled Hybrid Oscillators.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
A brachiating robot controller.
IEEE Trans. Robotics Autom., 2000

Approximating the Stance Map of a 2-DOF Monoped Runner.
J. Nonlinear Sci., 2000

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot.
Proceedings of the Experimental Robotics VII [ISER 2000, 2000

Piecewise Linear Homeomorphisms: The Scalar Case.
Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks, 2000

Design, Modeling and Preliminary Control of a Compliant Hexapod Robot.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

A Formalism for the Composition of Concurrent Robot Behaviors.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Event-Driven Parts' Moving in 2D Endogeneous Environments.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Rigid body visual servoing using navigation functions.
Proceedings of the 39th IEEE Conference on Decision and Control, 2000

1999
Sequential Composition of Dynamically Dexterous Robot Behaviors.
Int. J. Robotics Res., 1999

Planar Image Based Visual Servoing as a Navigation Problem.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998
Toward the Control of a Multi-Jointed, Monoped Runner.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Toward Global Visual Servos and Estimators for Rigid Bodies.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
Characterization of monoped equilibrium gaits.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Preliminary studies of a second generation brachiation robot controller.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996
An active visual estimator for dexterous manipulation.
IEEE Trans. Robotics Autom., 1996

Dynamical system representation, generation, and recognition of basic oscillatory motion gestures.
Proceedings of the 2nd International Conference on Automatic Face and Gesture Recognition (FG '96), 1996

1995
Toward Obstacle Avoidance in Intermittent Dynamical Environments.
Proceedings of the Experimental Robotics IV, The 4th International Symposium, Stanford, California, USA, June 30, 1995

A "robust" convergent visual servoing system.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

Toward a dynamical pick and place.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

Global Asymptotic Stability of Passive Juggler: A Parts Feeding Strategy.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Control of Forward Velocity for a Simplyfied Planar Hopping Robot.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994
An approach to autonomous robot assembly.
Robotica, 1994

Planning and Control of Robotic Juggling and Catching Tasks.
Int. J. Robotics Res., 1994

Further Progress in Robot Juggling: Solvable Mirror Laws.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
Comparative experiments with a new adaptive controller for robot arms.
IEEE Trans. Robotics Autom., 1993

Dynamic Stereo Triangulation for Robot Juggling.
Proceedings of the Experimental Robotics III, 1993

Toward the control of attention in a dynamically dexterous robot.
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1993

Further Progress in Robot Juggling: The Spatial Two-Juggle.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1992
Exact robot navigation using artificial potential functions.
IEEE Trans. Robotics Autom., 1992

Task encoding: Toward a scientific paradigm for robot planning and control.
Robotics Auton. Syst., 1992

Distributed Real-Time Control of a Spatial Robot Juggler.
Computer, 1992

Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

Progress in spatial robot juggling.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991
Analysis of a Simplified Hopping Robot.
Int. J. Robotics Res., 1991

Preliminary Experiments in Spatial Robot Juggling.
Proceedings of the Experimental Robotics II, 1991

Automatic assembly planning and control via potential functions.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991

1990
Robot control in a message passing environment: theoretical questions and preliminary experiments.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

Exact robot navigation in geometrically complicated but topologically simple spaces.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

From stable to chaotic juggling: theory, simulation, and experiments.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

1989
A Simple Juggling Robot: Theory and Experimentation.
Proceedings of the Experimental Robotics I, 1989

Autonomous Mobile Robots Controlled by Navigation Functions.
Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '89, 1989

The construction of analytic diffeomorphisms for exact robot navigation on star worlds.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

A family of robot control strategies for intermittent dynamical environments.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

A new distributed real-time controller for robotics applications.
Proceedings of the Thirty-Fourth IEEE Computer Society International Conference: Intellectual Leverage, 1989

1988
A One Degree of Freedom Juggler in a Two Degree of Freedom Environment.
Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '88, Proceedings. IROS 1988, Tokyo, Japan, October 31, 1988

Exact robot navigation using cost functions: the case of distinct spherical boundaries in E<sup>n</sup>.
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988

1987
Exact robot navigation by means of potential functions: Some topological considerations.
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31, 1987

1977
Fixed Structure Automata in a Multi-Teacher Environment.
IEEE Trans. Syst. Man Cybern., 1977


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