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Braman, Julia M. B. and Murray, Richard M. and Wagner, David A. (2007) Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 859-864. ISBN 978-1-4244-0911-2 http://resolver.caltech.edu/CaltechAUTHORS:20100820-081349938

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