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Parallel algorithms for one or two-vehicle navigation., , and . IROS, page 51-58. IEEE, (1990)A nonconvex cost optimization approach to tracking multiple targets., , and . IROS, page 25-31. IEEE, (1990)Constrained Clustering as an Optimization Method., , and . IEEE Trans. Pattern Anal. Mach. Intell., 15 (8): 785-794 (1993)A deterministic annealing approach to clustering., , and . Pattern Recognit. Lett., 11 (9): 589-594 (1990)Vector quantization by deterministic annealing., , and . IEEE Trans. Inf. Theory, 38 (4): 1249-1257 (1992)