Ricardo Martínez-Marroquín Oscar Castillo Luis T. Aguilar Optimization of Interval Type-2 Fuzzy Logic Controllers for a Perturbed Autonomous Wheeled Mobile Robot Using Genetic Algorithms. 3-18 2008 Soft Computing for Hybrid Intelligent Systems http://dx.doi.org/10.1007/978-3-540-70812-4_1 series/sci/2008-154 db/series/sci/sci154.html#MartinezCA08