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"Robotic Control & 3D GUIs", Dr. Dobb's Journal, vol. 28, no. 1, pp. 16-24, January, 2003.
"Supervisory Control of Multiple Robots based on a Real-Time Strategy Game Interaction Paradigm", Proceedings of the 2001 IEEE International Conference on Systems, Man, and Cybernetics, Tucson, AZ, IEEE, pp. 383-388, October, 2001.