2020

H. Uppal, A. Sepas-Moghaddam, M. Greenspan and A. Etemad, “Two-Level Attention-based Fusion for RGB-D Face Recognition”, ICPR 2020: The 25th International Conference on Pattern Recognition, Milan, Italy, 10-15 Jan. 2021.

Y. Feng, Z. Ziou, M. Greenspan and X. Zhu, “Exploring End-To-End Differentiable Natural Logic Modeling”, COLING ‘2020: The 28th International Conference on Computational Linguistics, 8-11 Dec. 2020.

I. Singh, X. Zhu and M. Greenspan, “Multi-Modal Fusion with Observation Points for Skeleton Action Recognition”, 27th IEEE International Conference on Image Processing (ICIP), United Arab Emirates, 25-28 October 2020.

K. Huang, S. Ziauddin, M. Zand and M. Greenspan, “One Shot Radial Distortion Correction By Direct Linear Transformation”, 27th IEEE International Conference on Image Processing (ICIP), United Arab Emirates, 25-28 October 2020.

Y. Qiu, J. Malcolm, A. Vahtoo, S. Ziauddin, and M. Greenspan, “Inverse Rectification for Efficient Procam Pattern A”, IEEE Winter Conference on Applications of Computer Vision (WACV 2020), Aspen, CO, USA, 1-5 March 2020.

J. Majumder, S. Ziauddin, M. Zand, and M. Greenspan, ” ValidNet: A Deep Learning Network for Validation of Surface Registration”, VISAPP 2020, Valletta, Malta, 27-29 Feb. 2020.

A. Cole, S. Ziauddin, and M. Greenspan, “High-Speed Imperceptible Structured Light Depth Mapping”, VISAPP 2020, Valletta, Malta, 27-29 Feb. 2020.

2018

Yufei Feng, Xiaodan Zhu, Yifeng Li, Yuping Ruan, and Michael Greenspan, “Learning Capsule Networks with Images and Text”, NIPS Workshop on Visually Grounded Interaction and Language (ViGIL), Montreal, Canada, 7 Dec. 2018.

M. T. Ahmed, M. Greenspan, M. Asif, J. Marshall, “Robust Apple Segmentation using Fuzzy Logic”, 5th International Multi-Topic ITC Conference (IMTIC), Jamshoro, Pakistan, 25-27 April 2018.

2017

M.T. Ahmed, J.A. Marshall and M. Greenspan, “Point Cloud Registration with Virtual Interest Points from Implicit Quadric Surface Intersections”, 3DV 2017 International Conference on 3D Vision, Qingdao, China, 10-12 October 2017, pp 649-657, doi: 10.1109/3DV.2017.00079.

M. Greenspan, L. Xu, J. Chau, “Detection By Registration”, IntelliSys 2017: IEEE Intelligent Systems Conference, London, England, 7-8 September 2017.

2015

M. Mohamad, M. T. Ahmed, D. Rappaport, and M. Greenspan, “SUPER Generalized 4PCS Algorithm for 3D Registration”, International Conference on 3D Vision (3DV), Lyon, France, October 2015.

E. Deretey, M. T. Ahmed, J. A. Marshall, and M. Greenspan, “Visual indoor positioning using a single camera”, Proceedings of the 6th International Conference on Indoor Positioning and Indoor Navigation (IPIN), Calgary, Canada, October 2015.

Best Vision Paper Award: M. T. Ahmed, M. Mohamad, J. A. Marshall, and M. Greenspan, “Registration of noisy point clouds using virtual interest points”, in Proceedings of the 12th Conference on Computer and Robot Vision (CRV), Halifax, Canada, June 2015.

2014

R. Zhang, W. Gong, V. Grzeda, A. Yaworski and M. Greenspan, “Scene Dynamic Estimation for Parameter Adjustment of Gaussian Mixture Models”, IEEE Signal Processing Letters, vol. 21(9):1130-1134, ISSN: 1070-9908, May 2014.

K. Hughes, H. Fernando, G. Szkilnyk, B. Surgenor and M. Greenspan, “VideoEvent Detection for Fault Monitoring in Assembly Automation”, International Journal of Intelligent Systems Technologies and Applications, vol. 13(1- 2/2014):103-116, Feb. 2014.

M. Mohamed, D. Rappaport and M. Greenspan, “Generalized 4-Points Congruent Sets for 3D Registration”, 3DV 2014: 4rd Joint 3DIM/3DPVT Conference, Tokyo, Japan, 8-11 Dec., 2014.

Dwaipayan Sinha, Mirza Tahir Ahmed, and M. Greenspan, “Image Retrieval Using Landmark Indexing for Indoor Navigation”, CRV 2014: 11th Conference on Computer and Robot Vision, Montreal, Quebec, Canada, 8-9 May 2014.

2013

R. Zhang, W. Gong, V. Grzeda, A. Yaworski and M. Greenspan, “An Adaptive Learning Rate Method for Improving Adaptability of Background Models”, IEEE Signal Processing Letters, vol. 20(12):1266-1269, ISSN: 1070-9908, Dec. 2013.

J. Lam and M. Greenspan, “Unsupervised Shape Matching of Repeatable Segments”, 3DV 2013: 3rd Joint 3DIM/3DPVT Conference, Washington, Seattle, USA, 29 June – 1 July, 2013.

M. Mohamed, K. Kusevic, P. Mrstick, D. Rappaport, and M. Greenspan, “Automatic Rail Extraction in Terrestrial and Airborne LiDAR Data”, 3DV 2013: 3rd Joint 3DIM/3DPVT Conference, Washington, Seattle, USA, 29 June – 1 July, 2013.

S. Awan, M. Mohamed, K. Kusevic, P. Mrstick, D. Rappaport, and M. Greenspan, “Object Class Recognition in Mobile Urban Lidar Data Using Global Shape Descriptors”, 3DV 2013: 3rd Joint 3DIM/3DPVT Conference, Washington, Seattle, USA, 29 June – 1 July, 2013, pp 350-357.

H. Fernando, K. Hughes, G. Szkilnyk, B. Surgenor and M. Greenspan, “Video Event Fault Detection with STVs: Application to a High Speed Assembly Machine”, Transactions of the North American Manufacturing Research Institution of SME, vol. 41, pp. 1-8, June 2013.

K. Hughes, V. Grzeda, and M. Greenspan, “Eigenbackground Bootstrapping”, CRV 2013: 10th Conference on Computer and Robot Vision, Regina, Sasketchewan, Canada, 29-31 May, 2013, 8 pages.

2012

R. Zhang, W. Gong, A. Yaworksi, and M. Greenspan, “Nonparametric Online Background Generation for Surveillance Video”, ICPR 2012: 21st International Conference on Pattern Recognition, Tsukuba Science City, Japan, 11-15 Nov. 2012.

D. Macrini, C. Whiten, R. Laganière, and M. Greenspan, “Probabilistic Shape Parsing for View-Based Object Recognition”, ICPR 2012: 21st International Conference on Pattern Recognition, Tsukuba Science City, Japan, 11-15 Nov. 2012.

Y. Ioanou, B. Taati, R. Harrap, and M. Greenspan, “The Difference of Normals as a Multi-scale Operator in Unorganized Point Clouds”, 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), Zurich, Switzerland, 13- 15 Oct. 2012, pp 501-508.

J. Lam and M. Greenspan, “Shape Matching of Repeatable Interest Segments in 3D Point Clouds”, Computer Vision and Pattern Recognition Workshops (CVPR-W), Providence, Rhode Island, U.S.A., 16 June 2012, pp 25-32.

J. Lam and M. Greenspan, “On the Repeatability of 3D Point Cloud Segmentation Based on Interest Points”, CRV 2012: 9th Conference on Computer and Robot Vision, Toronto, Ontario, Canada, 28-30 May 2012, pp 9-16.

< 2012

B. Taati and M. Greenspan, “Local Shape Descriptor Selection for Object Recognition in Range Data”, Computer Vision and Image Understanding, vol. 115(5):681-694, May 2011.

R. Zhang, W. Gong, V. Grzeda, A. Yaworski and M. Greenspan, “An Adaptive Learning Rate Method for Improving Adaptibility of Background Models”, IEEE Signal Processing Letters, vol. 20(12):1266-1629, ISSN: 1070-9908, Dec. 2013 H. Li and M. Greenspan, “Model-Based Segmentation and Recognition of Dynamic Gestures in Continuous Video Streams”, Pattern Recognition, vol. 44(8):1614-1628, August 2011.

L. Shang, M. Ketcheson, J. McLean, J. Lam and M. Greenspan, “Real-time 3D Object Recognition and Tracking Prototype”, 3DIMPVT 2011: The First Joint 3DIM/3DPVT Conference on 3D Imaging, Modeling, Processing, Visualization, and Transmission, Hangzhou, China, May 16-19, 2011.

L. Shang and M. Greenspan, “Real-time Object Recognition in Sparse Range Images Using Error Surface Embedding”, International Journal of Computer Vision, Springer Netherlands, vol. 89(2-3):211-228, Springer Netherlands, ISSN 0920-5691 (Print) 1573-1405 (Online), Sept. 2010.

C. Archibald, A. Altman, M. Greenspan and Y. Shoham, “Computational Pool: A New Challenge for Game Theory Pragmatics”, AI Magazine, vol. 31(4):33-41, Winter 2010.

S. Jordan and M. Greenspan, “Projector Optical Distortion Calibration Using Structured Light”, PROCAMS 2010: IEEE International Workshop on Projector- Camera Systems, San Francisco, California, June 18, 2010.

J. Lam, K. Kusevic, P. Mrstik, R. Harrap, and M. Greenspan, “Urban Scene Extraction from Mobile Ground Based LiDAR Data”, 3DPVT 2010: Fifth International Sympisium on 3D Data Processing, Visualization, and Transmission, Paris, France, May 17-20, 2010.

J.-P. Dussault, M. Greenspan, J.-F. Landry, W. Leckie, M. Godard, J. Lam, “Computational and Robotic Pool”, Digital Sport for Performance Enhancement and Competitive Evolution: Intelligent Gaming Technologies, Information Science Reference, Hershey New York, ISBN 978- 1-60566-406-4 (hardcover), ISBN 978-1 60566-407-1 (ebook), Chapter XII, pp 194-210, 2009.

Y. Ioanou, L. Shang, R. Harrap, and M. Greenspan, “Local Potential Well Space Embedding”, 3DIM 2009: 2009 IEEE Workshop on 3D Digital Imaging and Modeling, Kyoto, Japan, October 3-4, 2009.

M. Belshaw and M. Greenspan, “A High Speed Iterative Closest Point Tracker on an FPGA Platform”, 3DIM 2009: 2009 IEEE Workshop on 3D Digital Imaging and Modeling, Kyoto, Japan, October 3-4, 2009.

Best Paper Award and Best Student Paper Award: J. Lam and M. Greenspan, “Eye-In-Hand Visual Servoing for Accurate Shooting in Pool Robotics”, CRV 2008: 5th Canadian Conference on Computer and Robot Vision, Windsor, Ontario, Canada, 27-30 May 2008, pp 11-17.

Invited Paper: M. Greenspan, J. Lam, W. Leckie, M. Godard, I. Zaidi, K. Anderson, D. Dupuis, and S. Jordan, “Toward a Competitive Pool Playing Robot”, IEEE Computer Magazine, vol. 41(1):46-53, Jan. 2008.

L. Shang, P. Jasiobedzki and M. Greenspan, “Model-Based Tracking by Classification in a Tiny Discrete Pose Space”, TPAMI: IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29, iss. 6, June 2007, pp 976-989.

J. Lam and M. Greenspan, “An Iterative Algebraic Approach to TCF Matrix Estimation”, IROS 2007: IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 29 Oct.-2 Nov. 2007, pp 3848-3853.

B. Taati and M. Greenspan, “Variable Dimensional Local Shape Descriptors for Object Recognition in Range Data”, 3dRR-07: ICCV ’07 Workshop on 3D Representation for Recognition, Rio de Janeiro, Brazil, 20 Oct. 2007, ISBN 978- 142441631-8, 8 pages.

B. Taati, M. Bondy, P. Jasiobedzki, and M. Greenspan, “Automatic Registration for Model Building Using Variable Dimensional Local Shape Descriptors”, 3DIM 2007: The 6th International Conference on 3-D Digital Imaging and Modeling, Montreal, Quebec, Canada, Aug. 21-23, 2007, pp 265-272.

H. Li and M. Greenspan, “Segmentation and Recognition of Continuous Gestures”, ICIP 2007: the IEEE 2007 International Conference on Image Processing, San Antonio, Texas, Sept. 16-19, 2007.

W. Leckie and M. Greenspan, “Monte Carlo Methods in Pool Strategy Game Trees”, 5th International Conference on Computers and Games: Lecture Notes on Computer Science, No. 4630:244-255, Sept. 2007.

L. Shang and M. Greenspan, “Pose Determination by Potential Well Space Embedding”, 3DIM 2007: The 6th International Conference on 3-D Digital Imaging and Modeling, Montreal, Quebec, Canada, Aug. 21-23, 2007, pp 297-304.

Invited Paper: M. Greenspan, J. Lam, W. Leckie, M. Godard, I. Zaidi, K. Anderson, D. Dupuis, and S. Jordan, “Toward a Competitive Pool Playing Robot: Do We Need Intelligence to Play Pool?”, CIG 2007: IEEE Symposium on Computational Intelligence and Games, Honolulu, Hawaii, 1-5 April 2007, 9 pgs.

S. Zhang and M. Greenspan, “Variable Homography Compensation of Parallax Along Mosaic Seams”, Image Analysis and Recognition: Lecture Notes on Computer Science, No. 4633:271-284, Aug. 2007.

I. Wang, M. Greenspan, R.E. Ellis, “Validation of Bone Segmentation and Improved 3-D Registration Using Contour Coherency in CT Data”, IEEE Transactions on Medical Imaging, vol. 25(3):324-334, Mar. 2006.

B. Taati, M. Greenspan, and K. Gupta, “A Dynamic Load-Balancing Parallel Search for Enumerative Robotic Path Planning”, Journal of Intelligent and Robotic Systems, vol. 47(1):55-85, Sept. 2006.

Invited Paper: M. Greenspan, L.I. Wang, and R.E. Ellis, “Validation and Improved Registration of Bone Segmentation Using Contour Coherency”, EMBC 2006: IEEE 2006 International Conference of the Engineering in Medicine and Biology Society, New York City, New York, USA, 30 Aug. – 3 Sept. 2006, 4 pgs.

W. Leckie and M. Greenspan, “An Event-Based Pool Physics Simulator”, Eleventh Advances in Computer Games: Lecture Notes on Computer Science, No. 4250:248-263, Eds. H.J van den Herik, S.-C. Hsu, Ts. Hsu, and H.H.L.M. Donkers, Springer Verlag, Berlin, Sept. 2006.

M. Greenspan, “PickPocket Wins the Pool Tournament”, International Computer Gaming Association Journal, vol. 29(3):153-156, Sept. 2006.

W. Leckie and M. Greenspan, “Pool Physics Simulation by Event Prediction 2: Collisions”, International Computer Gaming Association Journal, vol. 29(1):24-31, Mar. 2006.

J. Lam, F. Long, G. Roth, and M. Greenspan, “Determining Shot Accuracy of a Robotic Pool System”, CRV 2006: 3rd Canadian Conference on Computer and Robot Vision, Quebec City, Quebec, Canada, 7-9 June 2006, 8 pgs.

W. Leckie and M. Greenspan, “Monte Carlo Methods in Pool Strategy Game Trees”, 5th International Conference on Computers and Games, Torino, Italy, 29- 31 May, 2006, 12 pgs.

W. Yao , P. Abolmaesumi, M. Greenspan, and R.E. Ellis, “An Estimation/Correction Algorithm for Detecting Bone Edges in CT Images”, IEEE Transactions on Medical Imaging, vol. 24(8):997- 1010, Aug. 2005.

I. Fraser and M. Greenspan, “Color Indexing by Nonparametric Statistics”, Image Analysis and Recognition: Lecture Notes on Computer Science, no. 3656:694-702, Sept. 2005.

M. Greenspan, “UofA Wins the Pool Tournament”, International Computer Gaming Association Journal, vol. 28(3):191-193, Sept. 2005.

W. Leckie and M. Greenspan, “Pool Physics Simulation by Event Prediction 1: Motion Transitions”, International Computer Gaming Association Journal, vol. 28(4):214-222, Dec. 2005.

H. Li and M. Greenspan, “Multi-Scale Gesture Recognition from Time-Varying Contours”, ICCV 2005: Proc. International Conference on Computer Vision, vol 1, Beijing , China , 2005, pp 236-243.

H. Li and M. Greenspan, “Continuous Time-Varying Gesture Segmentation by Dynamic Time Warping of Compound Gesture Models”, HAREM 2005: International Workshop on Human Activity Recognition and Modelling, Oxford , U.K. , 9 Sept. 2005, pp 35-42.

B. Taati and M. Greenspan, “Satellite Pose Acquisition and Tracking with Variable Dimensional Local Shape Descriptors”, IEEE/RSJ IROS Workshop on Robot Vision for Space Applications, Edmonton , Canada , 5 Aug. 2005, pp 4-9.

L. Shang, P. Jasiobedzki, and M. Greenspan, “Discrete Pose Space Estimation to Improve ICP- Based Tracking”, Proc. 5th International Conference on Three Dimensional Imaging and Modeling, Ottawa, Canada, 13-16 June 2005, pp 523- 530.

F. Long, J. Herland, M.-C. Tessier, D. Naulls, A. Roth, G. Roth, and M. Greenspan, “Robotic Pool: An Experiment in Automatic Potting”, IROS’04: IEEE/RSJ International Conference on Intelligent Robotics and Systems, vol. 3, Sendai, Japan, 28 Sept. – 2 Oct. 2004, pp 2520-2525.

M. Greenspan, L. Shang and P. Jasiobedzki, “Efficient Tracking with the Bounded Hough Transform”, CVPR04: IEEE Computer Society International Conference on Computer Vision and Pattern Recognition, vol. 1, Washington D.C., 27 June – 2 July 2004, pp 520-527.

G. Yang, M. Bondy, M. Greenspan, P. Jasiobedzki, and M. Doyon, “On-Orbit Safety Monitoring System – Development and Applications”, RoManSy 2004, 15th CISM IFToMM Symposium on Robot Design, Dynamics and Control, Montreal, Canada, June 14-18, 2004.

M. Greenspan and M. Yurick, “An Approximate K-D Tree Search for Efficient ICP”, 3DIM03: 4th International Conference on 3-D Digital Imaging and Modeling, Banff , Alberta , Canada , Oct. 6-10, 2003.

M. Greenspan and I. Fraser, “Tracking a Sphere Dipole”, Vision Interface 2003, Halifax , Nova Scotia , Canada , June 11-13, 2003, pp 154-161.

M. Greenspan, “Geometric Probing of Dense Range Data”, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 4(24):495-508, Apr. 2002.

M. Greenspan and P. Jasiobedzki, “Pose Determination of a Free-Flying Satellite”, CISST2002: the 2002 International Conference on Imaging Science, Systems, and Technology, Las Vegas , USA , June 24-27, 2002. pp 62-67.

I. Gipson, K. Gupta, and M. Greenspan, “MPK: An Open Extensible Motion Planning Kernel”, Journal of Intelligent Robotic Systems, vol. 8(18):433-443, summer 2001.

C. Shu, M. Greenspan, G. Godin, “Nearest Neighbor Search Through Function Minimization”, 13th Canadian Conference on Computational Geometry, Waterloo , Canada , August 2001, pp 157- 160.

M. Greenspan and G. Godin, “A Nearest Neighbor Method for Efficient ICP”, 3DIM’01 : 3rd International Conference on 3-D Digital Imaging and Modeling, Quebec City, Quebec, Canada, May 28-June 1, 2001, pp 161-168.

C. Langis, M. Greenspan and G. Godin, “The Parallel Iterative Closest Point Algorithm”, 3DIM’01 : 3rd International Conference on 3-D Digital Imaging and Modeling, Quebec City, Quebec, Canada, May 28-June 1, 2001, pp 195-202.

M. Greenspan, G. Godin, and J. Talbot, “Acceleration of Binning Nearest Neighbor Methods”, Vision Interface 2000, Montreal , Quebec , Canada , May 14-17, 2000.

M. Rioux, F. Blais, A.B.Beraldin, G. Godin, P. Boulanger and M. Greenspan, “Beyond Range Sensing: XYZ-RGB Digitizing and Modeling”, ICRA 2000: Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp 111-115.

E. Gagnon, J.-F. Rivest, M. Greenspan, N. Burtnyk , “A Computer Assisted Range Image Registration System for NuclearWaste Cleanup”, IEEE Transactions on Instrumentation and Measurement, vol. 48(3):758-762, June 1999.

P. Renton, M. Greenspan, H. ElMaraghy, H. Zghal, “Plan-N-Scan: A Robotic System for Collision- Free Autonomous Exploration and Workspace Mapping”, Journal of Intelligent Robotic Systems, vol. 24(3):207-234, 1999.

M. Greenspan and P. Boulanger, “Efficient and Reliable Template Set Matching for 3D Object Recognition”, 3DIM’99 : 2nd International Conference on 3-D Digital Imaging and Modeling, Ottawa, Canada, Oct. 4-8, 1999, pp 230-239.

D.G. Lamb, D.L. Baird and M. Greenspan, “An Automation System for Industrial 3-D Laser Digitizing”, 3DIM’99 : 2nd International Conference on 3-D Digital Imaging and Modeling, Ottawa, Canada, Oct. 4-8, 1999, pp 148-157.

M. Greenspan., “The Sample Tree: A Sequential Hypothesis Testing Approach to 3D Object Recognition”, CVPR98 : Computer Vision and Pattern Recognition 98, Santa Barbara , CA., June 23-25, 1998, pp 772-779.

M. Greenspan, “A Decision Tree Classifier for Object Recognition in Range Imagery”, Vision Interface 98, Vancouver , B.C., June 17-20, 1998, pp 181-188.

M. Greenspan, J. Ballantyne, and M.G. Lipsett, “Sticky and Slippery Collision Avoidance for Tele- Excavation”, IROS97 : IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble , France , September 7-11, 1997, pp 1666-1671.

J. Ballantyne, M. Greenspan, and M.G. Lipsett, “Virtual Environments for Remote Operations”, ANS 7th Topical Meeting on Robotics and Remote Systems, Augusta , GE. April 27 – May 1, 1997.

E. Gagnon, J.-F. Rivest, M. Greenspan, and N. Burtnyk, “A Computer Assisted Range Image Registration System for Nuclear Waste Cleanup”, IMTC/96 Joint Conference : IEEE Instrumentation & Measurement Conference & IMEKO Technical Committee 7, Brussels , Belgium , June 4-6, 1996.

M. Easter, D. Johnston , and M. Greenspan, “Realtime Collision Prediction on a Machine Tool”, 1996 CSME Forum – Engineering Applications of Mechanics, Hamilton , Ontario , May 1-9 1996.

M. Greenspan and N. Burtnyk, “Obstacle Count Independent Real-Time Collision Avoidance”, ICRA96: 1996 IEEE International Conference on Robotics and Automation, vol 2, April 22-29, Minneapolis , 1996, pp 1073-1080.

M. Greenspan, M.G. Lipsett, J. Ballantyne, P. Renton, E. Gagnon, and N. Burtnyk, “Laser Range Vision for Tele-Excavation”, 1995 Robotics and Knowledge Based Systems Workshop, Montreal, Quebec, Oct. 15-18, 1995.

P. Renton, M. Greenspan, N. Burtnyk, and H. ElMaraghy, “Scan-n-Plan : Collision-Free Autonomous Workspace Exploration”, 1995 Robotics and Knowledge Based Systems Workshop, Montreal , Quebec , Oct. 15-18, 1995.

N. Burtnyk and M. Greenspan, “Multiple View Registration of Range Data Using Signature Search”, American Nuclear Society Sixth Topical Meeting on Robotics and Remote Systems, Monterey , CA. Feb. 5- 10, 1995.

N. Burtnyk and M. Greenspan, “Signature Search Method for 3-D Pose Refinement with Range Data”, 1994 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Las Vegas , NV . Oct 2-5, 1994.

M. Greenspan and D. Johnston , “Collision Avoidance – A Component for Automated Manufacturing”, MAPLE 93 Symposium on Manufacturing Application Programming, Ottawa, Ont., Oct.4-5 1993. pp 127-133.

N. Burtnyk and M. Greenspan, “Supervised autonomy – Partitioning Telerobotic Responsibilities Between Human and Machine”, International Conference on Intelligent Teleoperation, Greensboro, NC . November 6-7, 1991, pp 34-42.