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P. Schaefer, R.D. Colgren, R.J. Abbott, H. Park, A. Fijany, F. Fisher, M.L. James, S. Chien, R. Mackey, M. Zak, T.L. Johnson, S.F. Bush. "Technologies for reliable autonomous control (TRAC) of UAVs." 19th DASC. 19th Digital Avionics Systems Conference. Proceedings (Cat. No.00CH37126)