Real-Time Global Optimal Path Planning of Mobile Robots Based on Modified Ant System Algorithm. - Guanzheng Tan; Dioubate Mamady I (ICNC (2), 2006)

Modified ACS Algorithm-Based Nonlinear PID Controller and Its Application to CIP-I Intelligent Leg. - Guanzheng Tan; Guanghui He; Dioubate Mamady I (ICIC (1), 2007)

Immune System Genetic Algorithm-Based Robust Locomotion Control of Autonomous Mobile Robot. - Dioubate Mamady I; Guangzhen Tan; Mory Dioubate (GEM, 2008)

Robot Goal-discovering Problems-Based Adapted Idiotypic Immune Network. - Dioubate Mamady I; Guanzheng Tan (GEM, 2008)