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D. C. Shah and Campbell, M. E., A robust qualitative planner for mobile robot navigation using human-provided maps, in IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 2580–2585.
D. C. Shah, Schneider, J., and Campbell, M. E., A robust sketch interface for natural robot control, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 4458–4463.