Articles Published in 1987
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"Theoretical Foundations of Planning and Navigation for Autonomous Mobile Systems", International Journal of Intelligent Systems, Vol.2, No.2,
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"Multiresolutional pyramidal knowledge representation and algorithmic basis of IMAS-2,"Proceedings of Mobile Robots, SPIE, Vol. 851, pp. 80-116
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"Nested hierachical intelligent module for automatic generation of control strategies," NATO International Adv. Res. Series Languages for Sensor-Based Control in Robots, Editors U. Rembold, K. Hormann, Springer -Verlag, Berlin
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"Intelligent mobile autonomous System (IMAS-2)," Technical Report to FB RD&E Center and distributed Drexel University, Philadelphia, PA
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"Knowledge representation in intelligent control," Tutorial Paper, IEEE Computer Society
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"Computer architectures for autonomous robots," Tutorial Paper, IEEE Computer Society
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"Nested hierarchical controller with partial autonomy," Proceedings Workshop on Space Telerobotics, V1, NASA, JPL, pp. 251-278, Pasadena, CA, July 1
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"Planning in a hierarchical nested autonomous control system," Proceedings SPIE Symposium, Vol. 727, Cambridge, MA, Oct 30-31
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"Navigation algorithm for a nested hierarchical system of robot path planning among polyhedral obstacles," Proceedings IEEE International Conference on Robotics and Automation, (with M. Montgomery, D. Gaw), Raleigh, NC, March 31-April 3, pp. 1616-1622,
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"A real-time guidance system for an autonomous vehicle," Proceedings IEEE International Conference on Robotics and Automation, (with R. Bhatt, D. Gaw), Raleigh, NC, March 31-April 3 pp. 1785-1791
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"Planning/control architectures for master dependent autonomous systems with nonhomogeneous knowledge representation," Proceedings IEEE International Symp. on Intelligent Control, Philadelphia, PA, pp. 31-41
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"Planning minimum time trajectory in the traversability space of a robot," Proceedings IEEE Int'l Symposium on Intelligent Control,(with P. Graglia), Philadelphia, PA, pp. 82-87
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"A real time pilot for autonomous robot," ProceedingsIEEE International Symposium on Intelligent Control,(with R. Bhatt, L. Venetsky, D. Gaw, D. Lowing), Philadelphia, PA pp. 135-139
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"Computer system for structuring images with no edge detection," Proceedings IEEE International Symposium on Intelligent Control, (with S. Uzun), Philadelphia, PA, pp. 266-270
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"Updating and organizing world knowledge for an autonomous control system," Proceedings IEEE International Symp. on Intelligent Control, (with S. Waldon, D. Gaw), Philadelphia, PA, pp. 423-430