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His current research interests include robotics, computer vision, vision-based control, and mobile robots navigation. Authorized licensed use limited to: IEEE Xplore. Downloaded on October 9, 2008 at 04:49 from IEEE Xplore. Restrictions apply.doi:10.1109/tro.2008.919288 fatcat:anj24f3ryzftvp3v6kg7m56ho4