An extended virtual force field based behavioral fusion with neural networks and evolutionary programming for mobile robot navigation. - Kwang-Young Im; Se-Young Oh (CEC, 2000)

Evolving a modular neural network-based behavioral fusion using extended VFF and environment classification for mobile robot navigation . - Kwang-Young Im; Se-Young Oh; Seong-Joo Han (IEEE Trans. Evol. Comput., 2002)