E. Marchand, E. Rutten, H. Marchand, F. Chaumette, Specifying and verifying active vision-based robotic systems with the Signal environment, Int. Journal of Robotics Research, 17(4):418-432, April 1998.

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@article{e_marchand98,
   Author = {Marchand, E. and Rutten, E. and Marchand, H. and Chaumette, F.},
   Title = {Specifying and verifying active vision-based robotic systems with the Signal environment},
   Journal = {Int. Journal of Robotics Research},
   Volume = {17},
   Number = {4},
   Pages = {418--432},
   Month = {April},
   Year = {1998}
}

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