Autonomous navigation using an adaptive hierarchy of multiple fuzzy-behaviors. - Edward W. Tunstel; Harrison Danny; Tanya Lippincott; Mo M. Jamshidi (CIRA, 1997)

Adaptive fuzzy-behavior hierarchy for autonomous navigation. - Edward W. Tunstel; Harrison Danny; Tanya Lippincott; Mo M. Jamshidi (ICRA, 1997)

Behavior Hierarchy for Autonomous Mobile Robots: Fuzzy-Behavior Modulation and Evolution. - Edward W. Tunstel; Tanya Lippincott; Mo M. Jamshidi (Intell. Autom. Soft Comput., 1997)