Giorgio Buttazzo's Journal Publications

Journal papers (listed in reverse chronological order)

  1. Niccolò Borgioli, Federico Aromolo, Linh Thi Xuan Phan, and Giorgio Buttazzo, "A Convolutional Autoencoder Architecture for Robust Network Intrusion Detection in Embedded Systems", Journal of Systems Architecture, Vol. 156, 103283, 2024.

  2. Federico Nesti, Giulio Rossolini, Gianluca D'Amico, Alessandro Biondi, Giorgio Buttazzo, "CARLA-GeAR: A Dataset Generator for a Systematic Evaluation of Adversarial Robustness of Deep Learning Vision Models", IEEE Transactions on Intelligent Transportation Systems, Vol. 25, No. 8, pp. 9840-9851, August 2024.

  3. Giorgio Buttazzo, "Artificial Intelligence and a Crossroads for Humanity", Scientia, July 2024.

  4. Vahid Eftekhari Moghadam, Gabriele Serra, Federico Aromolo, Giorgio Buttazzo, Paolo Prinetto, "Memory Integrity Techniques for Memory-Unsafe Languages: A Survey", IEEE Access, vol. 12, pp. 43201-43221, March 2024.

  5. Giorgio Buttazzo, "Bridging AI with Real-Time Systems", Research Highlights, Communications of the ACM, Vol. 67, No. 2, pp. 109, February 2024.

  6. Giulio Rossolini, Federico Nesti, Gianluca D'Amico, Saasha Nair, Alessandro Biondi, Giorgio Buttazzo, "On the Real-World Adversarial Robustness of Real-Time Semantic Segmentation Models for Autonomous Driving", IEEE Transactions on Neural Networks and Learning Systems, to appear.

  7. Gianluca D'Amico, Mauro Marinoni, Federico Nesti, Giulio Rossolini, Salvatore, Sabina, Gianluigi Lauro, Giorgio Buttazzo, "TrainSim: A Railway Simulation Framework for LiDAR and Camera Dataset Generation", IEEE Transactions on Intelligent Transportation Systems, Vol. 24, Issue 12, pp. 15006-15017, December 2023.

  8. Edoardo Cittadini, Mauro Marinoni, Alessandro Biondi, Giorgiomaria Cicero, and Giorgio Buttazzo, "Supporting AI-Powered Real-Time Cyber-Physical Systems on Heterogeneous Platforms via Hypervisor Technology", Real-Time Systems, Vol. 59, Issue 4, pp. 609-635, December 2023.

  9. Giorgio Buttazzo, "Rise of Artificial General Intelligence: Risks and Opportunities", Frontiers in Artificial Intelligence, section Machine Learning and Artificial Intelligence, August 2023.

  10. Giorgio Buttazzo, "Coscienza Artificiale: implicazioni per l'umanità", Mondo Digitale, ANNO XXII, N. 100, pp-1-18, Aprile 2023.

  11. Sandro Di Leonardi, Federico Aromolo, Pietro Fara, Gabriele Serra, Daniel Casini, Alessandro Biondi, Giorgio Buttazzo, "Maximizing the Security Level of Real-Time Software while Preserving Temporal Constraints", IEEE Access, Vol. 11, pp. 35591-35607, 2023.

  12. Mauro Marinoni, Pierluigi Amato, Carmelo Di Franco, Salvatore Sabina, Giorgio Buttazzo "A Novel Approach for Reducing Train Localization Errors by Inertial Measurements", IEEE Access, Vol. 11, pp. 5281-5295, 2023.

  13. Fabio Brau, Giulio Rossolini, Alessandro Biondi, and Giorgio Buttazzo, "On the Minimal Adversarial Perturbation for Deep Neural Networks with Provable Estimation Error", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 45, No. 4, pp. 5038-5052, April 2023.

  14. Federico Nesti, Alessandro Biondi, and Giorgio Buttazzo, "Detecting Adversarial Examples by Input Transformations, Defense Perturbations, and Voting", IEEE Transactions on Neural Networks and Learning Systems, Vol. 34, No. 3, pp. 1329-1341, March 2023.

  15. Francesco Restuccia, Marco Pagani, Alessandro Biondi, Mauro Marinoni, and Giorgio Buttazzo, "Bounding Memory Access Times in Multi-Accelerator Architectures on FPGA SoCs", IEEE Transactions on Computers, Vol. 72, No. 1, pp. 154-167, January 2023.

  16. Niccolò Borgioli, Matteo Zini, Daniel Casini, Giorgiomaria Cicero, Alessandro Biondi, and Giorgio Buttazzo, "An I/O Virtualization Framework with I/O-Related Memory Contention Control for Real-Time Systems", IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, Vol. 41, No. 11, pp. 4469-4480, Nov. 2022. Presented at the ACM SIGBED International Conference on Embedded Software (EMSOFT), Shangai, China, October 7-14, 2022.

  17. Giulio Rossolini, Alessandro Biondi, and Giorgio Buttazzo, "Increasing the Confidence of Deep Neural Networks by Coverage Analysis", IEEE Transactions on Software Engineering, Vol. 49, No. 2, pp. 802-815, February 2023. Also available at https://arxiv.org/pdf/2101.12100.pdf

  18. Francesco Restuccia, Marco Pagani, Agostino Mascitti, Michael Barrow, Mauro Marinoni, Alessandro Biondi, and Giorgio Buttazzo, "ARTe: Providing real-time multitasking to Arduino", Journal of Systems and Software, Vol. 186, 111185, 2022.

  19. M. Pagani, A. Biondi, M. Marinoni, L. Molinari, G. Lipari, G. Buttazzo, "A Linux-Based Support for Developing Real-Time Applications on Heterogeneous Platforms with Dynamic FPGA Reconfiguration", Future Generation Computer Systems, Vol. 129, pp. 125-140, April 2022. (Outstanding Journal Paper)

  20. Daniel Casini, Alessandro Biondi, and Giorgio Buttazzo, "Task Splitting and Load Balancing of Dynamic Real-Time Workloads for Semi-Partitioned EDF", IEEE Transactions on Computers, Vol. 70, Issue 12, pp. 2168-2181, Dec. 2021.

  21. Biruk Seyoum, Marco Pagani, Alessandro Biondi, Sara Balleri, and Giorgio Buttazzo, "Spatio-Temporal Optimization of Deep Neural Networks for Reconfigurable FPGA SoCs", IEEE Transactions on Computers, Vol. 70, Issue 11, pp. 1988-2000, Nov. 2021.

  22. Alessandro Biondi, Daniel Casini, Giorgiomaria Cicero, Niccolò Borgioli, Giorgio Buttazzo, et al., "SPHERE: A Multi-SoC Architecture for Next-generation Cyber-Physical Systems Based on Heterogeneous Platforms", IEEE Access, Vol. 9, pp. 75446-75459, May 2021.

  23. Daniel Casini, Alessandro Biondi, and Giorgio Buttazzo, "Timing Isolation and Improved Scheduling of Deep Neural Networks for Real-Time Systems", Software: Practice and Experience, Vol. 50, Issue 9, pp. 1760-1777, September 2020.

  24. Giorgio Buttazzo, "Reti Neurali in grado di apprendere", Ithaca: Viaggio nella Scienza, XVI, pp. 195-208, 2020.

  25. Alessandro Biondi, Federico Nesti, Giorgiomaria Cicero, Daniel Casini, and Giorgio Buttazzo, "A Safe, Secure, and Predictable Software Architecture for Deep Learning in Safety-Critical Systems", IEEE Embedded Systems Letters, Vol. 12, No. 3, pp. 78-82, September 2020.

  26. Biruk Seyoum, Alessandro Biondi, and Giorgio Buttazzo, "FLORA: FLoorplan Optimizer for Reconfigurable Areas in FPGAs", ACM Transactions on Embedded Computing Systems, Vol. 18, No. 5s, Article 73, pp. 1-20, October 2019.

  27. Francesco Restuccia, Marco Pagani, Alessandro Biondi, Mauro Marinoni, and Giorgio Buttazzo, "Is Your Bus Arbiter Really Fair? Restoring Fairness in AXI Interconnects for FPGA SoCs", ACM Transactions on Embedded Computing Systems, Vol. 18, No. 5s, Article 51, pp. 1-22. October 2019.

  28. Daniel Casini, Alessandro Biondi, and Giorgio Buttazzo, "Handling Transients of Dynamic Real-Time Workload Under EDF Scheduling", IEEE Transactions on Computers, Vol. 68, Issue 6, pp. 820-835, June 2019.

  29. Luigi Pannocchi, Carmelo Di Franco, Mauro Marinoni, and Giorgio Buttazzo, "Integrated Framework for Fast Prototyping and Testing of Autonomous Systems", Journal of Intelligent & Robotic Systems, Vol. 96, pp. 223-243, 2019.

  30. Enrico Rossi, Marvin Damschen, Lars Bauer, Giorgio Buttazzo, Jörg Henkel, "Preemption of the Partial Reconfiguration Process to Enable Real-Time Computing with FPGAs", ACM Transactions on Reconfigurable Technology and Systems, Vol. 11, Issue 2, pp. 10:1--10:24, November 2018.

  31. Carmelo Di Franco, Mauro Marinoni, Enrico Bini, Giorgio Buttazzo, "Dynamic Multidimensional Scaling with Anchors and Height Constraints for Indoor Localization of Mobile Nodes", Robotics and Autonomous Systems, Vol. 108, pp. 28-37, October 2018.

  32. Tauã Milech Cabreira, Carmelo Di Franco, Paulo Roberto Ferreira Junior, and Giorgio Buttazzo, "Energy-Aware Spiral Coverage Path Planning for UAV Photogrammetric Applications", IEEE Robotics and Automation Letters, Vol. 3, Issue 4, pp. 3662-3668, October 2018.

  33. Alessandro Biondi and Giorgio Buttazzo, "Modeling and Analysis of Engine Control Tasks Under Dynamic Priority Scheduling", IEEE Transactions on Industrial Informatics, Vol. 14, Issue 10, pp. 4407-4416, October 2018 (Best Journal Paper).

  34. Alessandro Biondi, Giorgio Buttazzo, and Marko Bertogna, "A Design Flow for Supporting Component-based Software Development in Multiprocessor Real-Time Systems", Real-Time Systems, Vol. 54, Issue 4, pp. 800-829, October 2018.

  35. Pasquale Buonocunto, Andrea Giantomassi, Mauro Marinoni, Davide Calvaresi, and Giorgio Buttazzo, "A Limb Tracking Platform for Tele-Rehabilitation", ACM Transactions on Cyber-Physical Systems, Vol. 2 Issue 4, pp. 30:1--30:23, September 2018.

  36. Alessandro Biondi, Marco Di Natale, and Giorgio Buttazzo, "Response-Time Analysis of Engine Control Applications under Fixed-Priority Scheduling", IEEE Transactions on Computers, Vol. 67, Issue 5, pp. 687-703, May 2018.

  37. Timo Feld, Alessandro Biondi, Rob Davis, Giorgio Buttazzo, and Frank Slomka, "A Survey of Schedulability Analysis Techniques for Rate-Dependent Tasks", Journal of Systems and Software, Volume 138, April 2018.

  38. Alessandro Biondi, Marco Di Natale, Giorgio Buttazzo, and Paolo Pazzaglia, "Selecting the Transition Speeds of Engine Control Tasks to Optimize the Performance", ACM Transactions on Cyber-Physical Systems, Volume 2, Issue 1, pp. 1-26, January 2018.

  39. Alessandra Melani, Marko Bertogna, Robert I. Davis, Vincenzo Bonifaci, Alberto Marchetti-Spaccamela, and Giorgio Buttazzo, "Exact Response Time Analysis for Fixed Priority Memory-Processor Co-scheduling", IEEE Transactions on Computers, Vol. 66, No. 4, pp. 631-646, April 2017.

  40. Gianluca Franchino and Giorgio Buttazzo, "A Power-Aware MAC layer Protocol For Real-Time Communication in Wireless Embedded Systems", Journal of Network and Computer Applications, Vol. 82, pp. 21-34, March 2017.

  41. Mauro Marinoni, Alessandro Biondi, Gianluca Franchino, Daniel Cesarini, Pasquale Buonocunto, and Giorgio Buttazzo, "Real-Time Analysis and Design of a Dual Protocol Support for Bluetooth LE Devices", IEEE Transactions on Industrial Informatics, Vol. 13, No. 1, pp. 80-91, February 2017.

  42. Alessandra Melani, Marko Bertogna, Vincenzo Bonifaci, Alberto Marchetti Spaccamela, and Giorgio Buttazzo, "Schedulability Analysis of Conditional Parallel Task Graphs in Multicore Systems", IEEE Transactions on Computers, Vol. 66, Issue 2, pp. 339-353, February 2017.

  43. Sikandar M. Zulqarnain Khan and Giorgio Buttazzo, "Increasing the Resolution of Laser Range finders using Low Frequency Pulses", International Journal of Embedded Systems, Vol. 9, No. 2, pp. 157-167, January 2017.

  44. Carmelo Di Franco and Giorgio Buttazzo, "Coverage Path Planning for UAVs Photogrammetry with Energy and Resolution Constraints", Journal of Intelligent & Robotic Systems, Vol. 83, Issue 3-4, pp. 445-462, September 2016.

  45. Giorgio Buttazzo, Carmelo Di Franco, and Mauro Marinoni, "Design and Analysis of Target-Sensitive Real-Time Systems", Software: Practice and Experience, Vol. 46, Issue 9, pp. 1181--1200, September 2016.

  46. Giorgio Buttazzo, "L'importanza della Matematica nell'Era Tecnologica", L'educazione Matematica, Anno XXXVII-Serie X, Vol. 6, N. 2, pp. 9-26, Agosto 2016.

  47. Gianluca Franchino, Giorgio Buttazzo, and Mauro Marinoni, "Bandwidth Optimization and Energy Management in Real-Time Wireless Networks", ACM Transactions on Embedded Computing Systems, Vol. 15, No. 3, pp. 41:1-41:29, March 2016.

  48. Alessandro Biondi, Giorgio Buttazzo, and Marko Bertogna, "Schedulability Analysis of Hierarchical Real-Time Systems under Shared Resources", IEEE Transactions on Computers, Vol. 65, No. 5, pp. 1593-1605, May 2016.

  49. Mario Bambagini, Mauro Marinoni, Hakan Aydin, and Giorgio Buttazzo, "Energy-Aware Scheduling for Real-Time Systems: a Survey", ACM Transactions on Embedded Computing Systems, Vol. 15, No. 1, pp. 7:1-7:34, January 2016.

  50. Giorgio Buttazzo, Marko Bertogna, and Gang Yao, "Limited Preemptive Scheduling for Real-Time Systems: a Survey", IEEE Transactions on Industrial Informatics, Vol. 9, No. 1, pp. 3-15, February 2013.

  51. Enrico Bini, Giorgio Buttazzo, Johan Eker, Stefan Schorr, Raphael Guerra, Gerhard Fohler, Karl-Erik Arzen, Vanessa Romero Segovia, Claudio Scordino, "Resource Management on Multicore Systems: The ACTORS Approach", IEEE Micro, Vol. 31, No. 3, pp. 72-81, May-June 2011.

  52. Giorgio Buttazzo, Enrico Bini, and Yifan Wu, "Partitioning Parallel Applications on Multiprocessor Reservations", IEEE Transactions on Industrial Informatics, Vol. 7, No. 2, pp. 302-315, May 2011.

  53. Gang Yao, Giorgio Buttazzo and Marko Bertogna, "Feasibility Analysis under Fixed Priority Scheduling with Limited Preemptions", Real-Time Systems, Vol. 47, No. 3, pp. 198-223, May 2011.

  54. Kai Huang, Luca Santinelli, Jian-Jia Chen, Lothar Thiele, and Giorgio C. Buttazzo, "Applying Real-Time Interface and Calculus for Dynamic Power Management in Hard Real-Time Systems", Real-Time Systems, Vol. 47, No. 2, pp. 163-193, March 2011.

  55. Benjamin Kuch, Giorgio Buttazzo, and Arne Sieber, "Bubble model based decompression algorithm optimized for implementation on a low power microcontroller", International Journal of the Society for Underwater Technology, Vol. 29, No. 4, pp. 195-202, 2011.

  56. Yifan Wu, Giorgio Buttazzo, Enrico Bini, Anton Cervin, "Parameter Selection for Real-time Controllers in Resource-Constrained Systems", IEEE Transactions on Industrial Informatics, Vol. 6, No. 4, pp. 610-620, November 2010.

  57. Pau Marti, Manel Velasco, Josep M. Fuertes, Antonio Camacho, and Giorgio Buttazzo, "Design of an Embedded Control Systems Laboratory Experiment", IEEE Transactions on Industrial Electronics, Vol. 57, No. 10, October 2010.

  58. Enrico Bini, Giorgio Buttazzo, and Giuseppe Lipari, "Minimizing CPU energy in real-time systems with discrete speed management", ACM Transactions on Embedded Computing Systems, Vol. 8, Issue 4, July 2009.

  59. Enrico Bini and Giorgio Buttazzo, "The space of EDF deadlines: the exact region and a convex approximation", Real-Time Systems, Vol. 41, No. 1, pp. 27-51, January 2009.

  60. Giorgio Buttazzo, "Artificial Consciousness: Hazardous Questions (and Answers)", Journal of Artificial Intelligence in Medicine, Elsevier, Vol. 44, Issue 2, pp. 139-146, October 2008.

  61. Enrico Bini, Marco Di Natale, and Giorgio Buttazzo, "Sensitivity Analysis for Fixed-Priority Real-Time Systems", Real-Time Systems, Vol. 39, No. 1-3, pp. 5-30, August 2008.

  62. Mauro Marinoni and Giorgio Buttazzo, "Elastic DVS Management in Processors with Discrete Voltage/Frequency Modes", IEEE Transactions on Industrial Informatics, Vol. 3, No. 1, pp. 51-62, February 2007.

  63. Giorgio Buttazzo, "Why real-time computing?", Automazione e Strumentazione, Anno LV, N. 2, pp. 82-88, Feb. 2007.

  64. Giorgio Buttazzo, Pau Marti, and Manel Velasco, "Quality-of-Control Management in Overloaded Real-Time Systems", IEEE Transactions on Computers, Vol. 56, No. 2, pp. 253-266, February 2007.

  65. Giorgio Buttazzo, "Research Trends in Real-Time Computing for Embedded Systems", ACM SIGBED Review, Vol. 3, No. 3, July 2006.

  66. Giorgio Buttazzo, "Achieving Scalability in Real-Time Systems", IEEE Computer, Vol. 39, No. 5, pp. 54-59, May 2006.

  67. Giorgio Buttazzo, "Real-Time Operating System Support for Energy-Aware Computing", Automazione e Strumentazione, Anno LIV, N. 1, pp. 88-95, Gennaio 2006.

  68. Tullio Facchinetti, Giorgio Buttazzo, and Luis Almeida, "Dynamic Resource Reservation and Connectivity Tracking to Support Real-Time Communication among Mobile Units", EURASIP Journal on Wireless Communications and Networking, Hindawi Publishing Corporation, Vol. 2005, No. 5, pp. 712-730, December, 2005.

  69. Paulo Pedreiras, Paolo Gai, Luis Almeida, and Giorgio Buttazzo, "FTT-Ethernet: A Flexible Real-Time Communication Protocol that Supports Dynamic QoS Management on Ethernet-based Systems", IEEE Transactions on Industrial Informatics, Vol. 1, No.3, pp. 162-172, August 2005.

  70. P. Caspi, A. Sangiovanni-Vincentelli, L. Almeida, A. Benveniste, B. Bouyssounouse, G. Buttazzo, et al., "Guidelines for a Graduate Curriculum on Embedded Software and Systems", ACM Transactions on Embedded Computing Systems (TECS), Vol. 4, Issue 3, pp. 587-611, August 2005.

  71. Enrico Bini and Giorgio Buttazzo, "Measuring the Performance of Schedulability Tests", Real-Time Systems, Vol. 30, No. 1/2, pp. 129-154, May 2005.

  72. Marco Caccamo, Giorgio Buttazzo, and D. C. Thomas, "Efficient Reclaiming in Reservation-Based Real-Time Systems with Variable Execution Times", IEEE Transactions on Computers, Vol. 54, No. 2, pp. 198-213, February 2005.

  73. Giorgio Buttazzo, "Rate Monotonic vs. EDF: Judgment Day", Real-Time Systems, Vol. 29, Issue 1, pp. 5-26, January 2005.

  74. L. Sha, T. Abdelzaher, K. Arzen, A. Cervin, T. Baker, A. Burns, G. Buttazzo, M. Caccamo, J. Lehoczky, A. Mok, "Real-Time Scheduling Theory: A Hystorical Perspective", Real-Time Systems, Vol. 28, Issue 2-3, pp. 101-155, December 2004.

  75. Enrico Bini and Giorgio Buttazzo, "Schedulability Analysis of Periodic Fixed Priority Systems", IEEE Transactions on Computers, Vol. 53, Issue 11, pp. 1462-1473, November 2004.

  76. Luca Abeni and Giorgio C. Buttazzo, "Resource Reservation in Dynamic Real-Time Systems", Real-Time Systems, Vol. 27, No. 2, pp. 123-167, July 2004.

  77. Enrico Bini, Giorgio Buttazzo and Giuseppe Buttazzo, "Rate Monotonic Analysis: The Hyperbolic Bound", IEEE Transactions on Computers, Vol. 52, No. 7, pp. 933-942, July 2003.

  78. Giorgio Buttazzo and Luca Abeni, "Adaptive Workload Management through Elastic Scheduling", Real-Time Systems, Vol. 23, No. 1-2, pp. 7-24, July-September 2002.

  79. Marco Caccamo, Giorgio Buttazzo, and Lui Sha, "Handling Execution Overruns in Hard Real-Time Control Systems", IEEE Transactions on Computers, Vol. 51, No. 7, pp. 835-849, July 2002.

  80. Giorgio Buttazzo, Giuseppe Lipari, Marco Caccamo, and Luca Abeni, "Elastic Scheduling for Flexible Workload Management", IEEE Transactions on Computers, Vol. 51, No. 3, pp. 289-302, March 2002.

  81. Giorgio Buttazzo, "Coscienza Artificiale: Missione Impossibile?", Mondo Digitale, No. 1, pp. 16-25, Marzo 2002.

  82. João Capucho, Luís Almeida, and Giorgio C. Buttazzo, "Simulating the Micro-Rato robotics contest with a real-time kernel", Robotica, No. 44, pp. 66-71, 2001.

  83. Giorgio Buttazzo, "Artificial Consciousness: Utopia or Real Possibility?", IEEE Computer, Vol. 34, No. 7, pp. 24-30, July 2001.

  84. Giuseppe Lipari and Giorgio Buttazzo, "Schedulability Analysis of Periodic and Aperiodic Tasks with Resource Constraints", Journal of Systems Architecture, Vol. 46, No. 4, pp. 327-338, January 2000.

  85. Giorgio Buttazzo and Fabrizio Sensini, "Optimal Deadline Assignment for Scheduling Soft Aperiodic Tasks in Hard Real-Time Environments", IEEE Transactions on Computers, Vol. 48, No. 10, pp. 1035-1052, October 1999.

  86. Giorgio Buttazzo and Marco Caccamo, "Minimizing Aperiodic Response Times in a Firm Real-Time Environment", IEEE Transactions on Software Engineering, Vol. 25, No. 1, pp. 22-32, January/February 1999.

  87. Paolo Ancilotti, Giorgio Buttazzo, Marco Di Natale, and Marco Spuri, "Design and Programming Tools for Time Critical Applications", Real-Time Systems, Vol. 14, No. 3, pp. 251-267, May 1998.

  88. Paolo Ancilotti, Giorgio Buttazzo, Marco Di Natale, and Marco Spuri, "A Development Environment for Hard Real-Time Applications", International Journal of Software and Knowledge Engineering, Vol. 6, No. 3, pp. 331-354, 1996.

  89. Marco Spuri and Giorgio Buttazzo, "Scheduling Aperiodic Tasks in Dynamic Priority Systems", The Journal of Real-Time Systems, Vol. 10, No. 2, pp. 179-210, March 1996.

  90. John Stankovic, Marco Spuri, Marco Di Natale, and Giorgio Buttazzo, "Implications of Classical Scheduling Results for Real-Time Systems", IEEE Computer, Vol. 28, No. 6, pp. 16-25, June 1995.

  91. Giorgio Buttazzo, Benedetto Allotta, and Felice Fanizza, "Mousebuster: a Robot for Catching Fast Objects", IEEE Control Systems Magazine, Vol. 14, No. 1, pp. 49-56, February 1994.

  92. Paolo Dario and Giorgio Buttazzo, "An Anthropomorphic Robot Finger For Investigating Artificial Tactile Perception", The International Journal of Robotics Research, Vol. 6, No. 3, MIT Press, pp. 25-48, Fall 1987 (Best Journal Paper Award).