Alessandro Saffiotti Nicolas Helft Kurt Konolige John D. Lowrance Karen L. Myers Daniela Musto Enrique H. Ruspini Leonard P. Wesley A Fuzzy Controller for Flakey, the Robot. 864 1993 conf/aaai/1993 AAAI db/conf/aaai/aaai93.html#SaffiottiHKLMMRW93 http://www.aaai.org/Library/AAAI/1993/aaai93-135.php