Self-organising fuzzy decision trees for robot navigation: An online learning approach. - G. H. Shah Hamzei; David J. Mulvaney (SMC, 1998)

Multi-Layer Hierarchical Rule Learning in Reactive Robot Control Using Incremental Decision Trees. - G. H. Shah Hamzei; David J. Mulvaney; Ian P. W. Sillitoe (J. Intell. Robotic Syst., 1999)

Becoming incrementally reactive: on-line learning of an evolving decision tree array for robot navigation. - G. H. Shah Hamzei; David J. Mulvaney; Ian P. W. Sillitoe (Robotica, 1999)

Implementation of an Intelligent Control System Using Fuzzy ITI. - G. H. Shah Hamzei; David J. Mulvaney (Neural Comput. Appl., 2000)