@inproceedings{berg22,
title={{Using Language to Generate State Abstractions for Long-Range Planning in Outdoor Environments}},
author={Matthew Berg and George Konidaris and Stefanie Tellex},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2022}
}

@inproceedings{zhengcorrelational22,
title={Towards Optimal Correlational Object Search},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
author={Zheng, Kaiyu and Chitnis, Rohan and Sung, Yoonchang and Konidaris, George and Tellex, Stefanie},
year={2022}
}

@inproceedings{zhengmulti21,
title={Multi-Resolution {POMDP} Planning for Multi-Object Search in {3D}},
booktitle={{IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
author={Zheng, Kaiyu and Sung, Yoonchang and Konidaris, George and Tellex, Stefanie},
year={2021},
note={Robocup Best Paper}
}

@INPROCEEDINGS{tang21,
author={Tang, Bingjie and Corsaro, Matthew and Konidaris, George and Nikolaidis, Stefanos and Tellex, Stefanie},
booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
title={Learning Collaborative Pushing and Grasping Policies in Dense Clutter},
year={2021},
volume={},
number={},
pages={6177-6184},
doi={10.1109/ICRA48506.2021.9561828}}

@article{idrees21,
author = {Ifrah Idrees and Zahid Hasan and Steven P. Reiss and Stefanie Tellex},
title = {Where were my keys? - Aggregating Spatial-Temporal Instances of Objects for Efficient Retrieval over Long Periods of Time},
journal = {CoRR},
volume = {abs/2110.13061},
year = {2021},
url = {https://arxiv.org/abs/2110.13061},
eprinttype = {arXiv},
eprint = {2110.13061},
timestamp = {Thu, 28 Oct 2021 15:25:31 +0200},
biburl = {https://dblp.org/rec/journals/corr/abs-2110-13061.bib},
bibsource = {dblp computer science bibliography, https://dblp.org}
}

@inproceedings{zheng2021spatial,
title={Spatial Language Understanding for Object Search in Partially Observed Cityscale Environments},
author={Zheng, Kaiyu and Bayazit, Deniz and Mathew, Rebecca and Pavlick, Ellie and Tellex, Stefanie},
booktitle={{2021 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)}},
year={2021}
}

@INPROCEEDINGS{nguyen20,
AUTHOR = {Thao Nguyen AND Nakul Gopalan AND Roma Patel AND Matthew Corsaro AND Ellie Pavlick AND Stefanie Tellex},
TITLE = {{Robot Object Retrieval with Contextual Natural Language Queries}},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2020},
ADDRESS = {Corvalis, Oregon, USA},
MONTH = {July}}

@INPROCEEDINGS{gopalan20,
AUTHOR = {Nakul Gopalan AND Eric Rosen AND George Konidaris AND Stefanie Tellex},
TITLE = {{Simultaneously Learning Transferable Symbols and Language Groundings from Perceptual Data for Instruction Following}},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2020},
ADDRESS = {Corvalis, Oregon, USA},
MONTH = {July},
DOI = {10.15607/RSS.2020.XVI.102}
}

@INPROCEEDINGS{patel20,
AUTHOR = {Roma Patel and Ellie Pavlick and Stefanie Tellex},
TITLE = {Grounding Language to Non-Markovian Tasks with
No Supervision of Task Specifications},
BOOKTITLE = {{Proceedings of Robotics: Science and Systems}},
YEAR = {2020},
MONTH = {June},
}

@inproceedings{berg20,
title={{Grounding Language to Landmarks in Arbitrary Outdoor Environments}},
author={Matthew Berg and Deniz Bayazit and Rebecca Mathew and Ariel Rotter-Aboyoun and Ellie Pavlick and Stefanie Tellex},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2020}
}

@article{tellex20,
title={Robots That Use Language},
author={Tellex, Stefanie and Gopalan, Nakul and Kress-Gazit, Hadas and Matuszek, Cynthia},
journal={Annual Review of Control, Robotics, and Autonomous Systems},
volume={3},
pages={25--55},
year={2020},
publisher={Annual Reviews},
note={link}
}

@INPROCEEDINGS{rosen20,
author={Eric Rosen and Nishanth Kumar and Nakul Gopalan and Daniel Ullman and George Konidaris and Stefanie Tellex},
booktitle={{2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
title={Building Plannable Representations with Mixed Reality},
volume={},
number={},
pages={},
year={2020}}

@INPROCEEDINGS{rosen20pvdpomdp,
author={Eric Rosen and David Whitney and Daniel Ullman and Stefanie Tellex},
booktitle={{2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
title={Mixed Reality as a Bidirectional Communication Interface for Human-Robot Interaction},
volume={},
number={},
pages={},
year={2020}}

@inproceedings{eller19,
author={Luke Eller and Theo Guerin and Baichuan Huang and Garrett Warren and Sophie Yang and Josh Roy and Stefanie Tellex},
title={{Advanced Autonomy on a Low-Cost Educational Drone Platform}},
year={2019},
booktitle={{IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
month={October}}

@INPROCEEDINGS{oh19,
AUTHOR = {Yoonseon Oh and Roma Patel and Thao Nguyen and Baichuan Huang and Ellie Pavlick and Stefanie Tellex},
TITLE = {{Planning with State Abstractions for Non-Markovian Task Specifications}},
BOOKTITLE = {{Proceedings of Robotics: Science and Systems}},
YEAR = {2019},
ADDRESS = {Freiburg, Germany},
MONTH = {June}
}

@article{abbatematteo19,
title={Learning to Generalize Kinematic Models to Novel Objects},
author={Abbatematteo, Ben and Tellex, Stefanie, and Konidaris, George},
journal={Proceedings of Machine Learning Research 100},
year={2019}
}

@INPROCEEDINGS{cohen19,
author={V. {Cohen} and B. {Burchfiel} and T. {Nguyen} and N. {Gopalan} and S. {Tellex} and G. {Konidaris}},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Grounding Language Attributes to Objects using Bayesian Eigenobjects},
year={2019},
volume={},
number={},
pages={1187-1194},}

@inproceedings{kotani19,
title={{Teaching Robots to Draw}},
author={Atsunobu Kotani and Stefanie Tellex},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2019}
}

@inproceedings{demarinis19,
title={{Scanning the Internet for ROS: A View of Security in Robotics Research}},
author={Nicholas DeMarinis and Stefanie Tellex and Vasileios P. Kemerlis and George Konidaris and Rodrigo Fonseca},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2019}
}

@inproceedings{wandzel19,
title={{Multi-Object Search using Object-Oriented POMDPs}},
author={Arthur Wandzel and Yoonseon Oh and Michael Fishman and Nishanth Kumar and Lawson L.S. Wong and Stefanie Tellex},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2019}
}

@inproceedings{gadre19,
title={{End-User Robot Programming Using Mixed Reality}},
author={Samir Yitzhak Gadre and Eric Rosen and Gary Chien and Elizabeth Phillips and Stefanie Tellex and George Konidaris},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2019}
}

@inproceedings{huang19,
title={{Flight, Camera, Action! Using Natural Language and Mixed Reality to Control a Drone}},
author={Baichuan Huang and Deniz Bayazit and Daniel Ullman and Nakul Gopalan and Stefanie Tellex},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2019}
}

@inproceedings{danas19errorrec,
place={Freiburg, Germany},
title={Formal Dialogue Model for Language Grounding Error Recovery}, organization={Robotics: Science and Systems},
booktitle={Workshop on Combining Learning and Reasoning – Towards Human-Level Robot Intelligence},
author={Danas, Natasha and Finkelstein, Cobi and Nelson, Tim and Krishnamurthi, Shiram and Tellex, Stefanie},
year={2019}
}

@inproceedings{brand18,
author={Isaiah Brand and Josh Roy and Aaron Ray and John Oberlin and Stefanie Tellex},
title={{PiDrone: An Autonomous Educational Drone using Raspberry Pi and Python}},
year={2018},
booktitle={{IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
month={October}}

@INPROCEEDINGS{gopalan18,
AUTHOR = {Nakul Gopalan AND Dilip Arumugam AND Lawson Wong AND Stefanie Tellex},
TITLE = {{Sequence-to-Sequence Language Grounding of Non-Markovian Task Specifications}},
BOOKTITLE = {{Proceedings of Robotics: Science and Systems}},
YEAR = {2018},
ADDRESS = {Pittsburgh, Pennsylvania},
MONTH = {June},
DOI = {10.15607/RSS.2018.XIV.067}
}

@inproceedings{rosen18,
title={Testing robot teleoperation using a virtual reality interface with ROS reality},
author={Rosen, Eric and Whitney, David and Phillips, Elizabeth and Ullman, Daniel and Tellex, Stefanie},
booktitle={Proceedings of the 1st International Workshop on Virtual, Augmented, and Mixed Reality for HRI (VAM-HRI)},
pages={1--4},
year={2018}
}

@article{arumugam18,
title={Grounding Natural Language Instructions to Semantic Goal Representations for Abstraction and Generalization},
author={Dilip Arumugam and Siddharth Karamcheti and Nakul Gopalan and Edward C. Williams and Mina Rhee and Lawson L. S. Wong and Stefanie Tellex},
journal={Autonomous Robots},
year={2018},
volume={43},
pages={449-468}
}

@inproceedings{williams18,
title={{Learning to Parse Natural Language to Grounded Reward Functions with Weak Supervision}},
author={Williams, Edward C. and Gopalan, Nakul and Rhee, Mina and Tellex, Stefanie},
booktitle={{IEEE International Conference on Robotics and Automation (ICRA)}},
year={2018}
}

@inproceedings{whitney18,
title={{ROS Reality: A Virtual Reality Framework Using Consumer-Grade Hardware for ROS-Enabled Robots}},
author={Whitney, David and Rosen, Eric and Ullman, Daniel and Phillips, Elizabeth and Tellex, Stefanie},
booktitle={{IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
year={2018}
}

@inproceedings{roderick2018deep,
title={{Deep Abstract Q-Networks}},
author={Roderick, Melrose and Grimm, Christopher and Tellex, Stefanie},
booktitle={{Proceedings of the 17th Conference on Autonomous Agents and MultiAgent Systems}},
year={2018},
note={Nominated for Best Student Paper.}
}

@article{karamcheti17,
title={{A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions}},
author={Karamcheti, Siddharth and Williams, Edward C and Arumugam, Dilip and Rhee, Mina and Gopalan, Nakul and Wong, Lawson LS and Tellex, Stefanie},
journal={{Winner of Best Paper at 1st Workshop on Language Grounding for Robotics, ACL 2017}},
year={2017}
}

@inproceedings{rosen17,
author={Eric Rosen and David Whitney and Elizabeth Phillips and Gary Chien and James Tompkin and George Konidaris and Stefanie Tellex},
title = {{Communicating Robot Arm Motion Intent Through Mixed Reality Head-mounted Displays}},
booktitle = {{International Symposium on Robotics Research}},
year = {2017}
}

@INPROCEEDINGS{whitney17,
author = {Whitney, David and Rosen, Eric and MacGlashan, James, and Wong, Lawson and Tellex, Stefanie},
title = {{Reducing Errors in Object-Fetching Interactions through Social Feedback}},
booktitle = {{International Conference on Robotics and Automation}},
year = {2017}
}

@inproceedings{gopalan17,
title={{Planning with Abstract Markov Decision Processes}},
author={Nakul Gopalan and Marie desJardins and Michael L. Littman and James MacGlashan and Shawn Squire and Stefanie Tellex and John Winder and Lawson L.S. Wong},
Booktitle = {{International Conference on Automated Planning and Scheduling}},
Year = "2017"
}

@inproceedings{williams17,
title={{Learning to Parse Natural Language to Grounded Reward Functions with Weak Supervision}},
author={Williams, Edward C and Rhee, Mina and Gopalan, Nakul and Tellex, Stefanie},
booktitle={{AAAI Fall Symposium on Natural Communication for Human-Robot Collaboration}},
year={2017}
}

@inproceedings{arumugam17,
Author = {Dilip Arumugam and Siddharth Karamcheti and Nakul Gopalan and Lawson L. S. Wong and Stefanie Tellex},
Title = {{Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities}},
booktitle = {{Robotics: Science and Systems}},
Year = {2017},
}

@article{roderick17daqn,
author = {Roderick, Melrose and Grimm, Christopher and Tellex, Stefanie},
title = {{Deep Abstract Q-Networks}},
journal = {{Hierarchical RL Workshop, NIPS}},
year = {2017},
}

@inproceedings{oberlin17,
author = {John Oberlin and Stefanie Tellex},
title = {{Time-Lapse Light Field Photography for Perceiving Transparent and Reflective Objects}},
booktitle = {{Robotics: Science and Systems}},
year = {2017}
}

@article{roderick17,
title={{Implementing the Deep Q-Network}},
author={Roderick, Melrose and MacGlashan, James and Tellex, Stefanie},
journal={{arXiv preprint arXiv:1711.07478}},
year={2017}
}

@inproceedings{whitney17a,
author = {David Whitney and Eric Rosen and Elizabeth Phillips and George Konidaris and Stefanie Tellex},
title = {{Comparing Robot Grasping Teleoperation across Desktop and Virtual Reality with ROS Reality}},
booktitle = {{International Symposium on Robotics Research}},
year = {2017}
}

@misc{wu16thesis,
howpublished={Undergraduate Thesis},
author={Emily Wu},
title={{Social Feedback For Robotic Collaboration}},
school={Brown University},
month={May},
year={2016},
}

@misc{manek16thesis,
howpublished={Undergraduate Thesis},
author = {Manek, Gaurav and Tellex, Stefanie},
title = {{Incrementally Identifying Objects from Referring Expressions using Spatial Object Models}},
school={Brown University},
month={May},
year={2016},
}

@misc{guha16thesis,
howpublished={Undergraduate Thesis},
author={Advik Iyer Guha},
title={{Towards Meaningful Human-Robot Collaboration on Object
Placement}},
school={Brown University},
month={May},
year={2016},
}

@inproceedings{guha16,
author = {Guha, Advik Iyer and Tellex, Stefanie},
title = {{Towards Meaningful Human-Robot Collaboration on Object Placement}},
booktitle = {{RSS Workshop on Planning for Human-Robot Interaction: Shared Autonomy and Collaborative Robotics}},
year = {2016}
}

@INPROCEEDINGS{whitney16,
author = {Whitney, David and Eldon, Miles and Oberlin, John and Tellex, Stefanie},
title = {{Interpreting Multimodal Referring Expressions in Real Time}},
booktitle = {{International Conference on Robotics and Automation}},
year = {2016}
}

@InProceedings{gopalan16,
author = {Gopalan, Nakul and desJardins, Marie and Littman, Michael L. and MacGlashan, James and Squire, Shawn and Tellex, Stefanie and Winder, John and Wong, Lawson L.S.},
title = {{Planning with Abstract Markov Decision Processes}},
booktitle = {{ICML workshop on Abstraction in Reinforcement Learning}},
year = {2016}
}

@inproceedings{oberlin16,
author={John Oberlin and Stefanie Tellex},
title={{Time-Lapse Light Field Photography With a 7 DoF Arm}},
booktitle={{RSS Workshop on Geometry and Beyond - Representations, Physics, and Scene Understanding for Robots}},
year=2016}

@misc{eldon15thesis,
howpublished={Undergraduate Thesis},
author={Miles Eldon},
title={{Incrementally Interpreting Multimodal Referring Expressions in Real Time}},
school={Brown University},
month={May},
year={2015},
}

@MASTERSTHESIS{barth-maron15thesis,
author = {Gabriel Barth-Maron},
title = {{Learning Deep State Representations With Convolutional Autoencoders}},
school = {Brown University},
month={May},
year = {2015}
}

@inproceedings{oberlin15scale,
AUTHOR = {Oberlin, John and Meier, Maria and Kraska, Tim and Tellex, Stefanie},
TITLE = {{Acquiring Object Experiences at Scale}},
BOOKTITLE = {{AAAI-RSS Special Workshop on the 50th Anniversary of Shakey: The Role of AI to Harmonize Robots and Humans}},
YEAR = {2015},
Note = {Blue Sky Award.}
}

@inproceedings{eldon15multimodal,
author = {Eldon, Miles and Whitney, David and Tellex, Stefanie},
title = {{Video Demonstration of a Robotic Assistant Interpreting Multimodal Expressions}},
booktitle = {{AAAI Spring Symposium}},
year = {2015}
}

@INPROCEEDINGS{hershkowitz15,
author = {Hershkowitz, D Ellis and MacGlashan, James and Tellex, Stefanie},
title = {{Learning Propositional Functions for Planning and Reinforcement Learning}},
booktitle = {{AAAI Spring Symposium}},
year = {2015}
}

@InProceedings{gopalan15,
Title = {{Modeling and Solving Human-Robot Collaborative Tasks Using POMDPs}},
Author = {Gopalan, Nakul and Tellex, Stefanie},
Booktitle = {{Robotics: Science and Systems 2015: Workshop on Model Learning for Human-Robot Communication}},
Year = {2015},
}

@inproceedings{aluru15,
author = {Aluru, Krishna and Tellex, Stefanie and Oberlin, John and MacGlashan, James},
title = {{Minecraft as an Experimental World for AI in Robotics}},
booktitle = {{AAAI Fall Symposium}},
year = {2015}
}

@article{knepper15,
title={{Recovering from Failure by Asking for Help}},
author={Knepper, Ross A and Tellex, Stefanie and Li, Adrian and Roy, Nicholas and Rus, Daniela},
journal={{Autonomous Robots}},
pages={1--16},
year={2015},
publisher={Springer US}
}

@inproceedings{oberlin15isrr,
AUTHOR={Oberlin, John and Tellex, Stefanie},
TITLE={{Autonomously Acquiring Instance-Based Object Models from Experience}},
BOOKTITLE={{International Symposium on Robotics Research (ISRR)}},
YEAR=2015
}

@inproceedings{macglashan15grounding,
title = {{Grounding English Commands to Reward Functions}},
author = {MacGlashan, James and Babes-Vroman, Monica and desJardins, Marie and Littman, Michael and Muresan, Smaranda and Squire, Shawn and Tellex, Stefanie and Arumugam, Dilip and Yang, Lei},
booktitle={{Robotics: Science and Systems}},
year = {2015}
}

@inproceedings{abel15priors,
title={{Goal-Based Action Priors}},
author={Abel, David and Hershkowitz, David Ellis and Barth-Maron, Gabriel and Brawner, Stephen and O'Farrell, Kevin and MacGlashan, James and Tellex, Stefanie},
booktitle={{Twenty-Fifth International Conference on Automated Planning and Scheduling}},
year={2015}
}

@inproceedings{tellex14semantics,
AUTHOR = {Tellex, Stefanie and Knepper, Ross and Li, Adrian and Rus, Daniela and Roy, Nicholas},
TITLE = {{Asking for Help Using Inverse Semantics}},
BOOKTITLE = {{Robotics: Science and Systems}},
YEAR = {2014},
ADDRESS = {Berkeley, USA},
MONTH = {July},
Note = {Best Paper.}
}

@inproceedings{barth-maron14affordances,
title={{Affordances as Transferable Knowledge for Planning Agents}},
author={Barth-Maron, Gabriel and Abel, David and MacGlashan, James and Tellex, Stefanie},
booktitle={{2014 {AAAI} Fall Symposium Series}},
year={2014}
}

@article{tellex14learning,
title={{Learning Perceptually Grounded Word Meanings from Unaligned Parallel Data}},
author={Tellex, Stefanie and Thaker, Pratiksha and Joseph, Joshua and Roy, Nicholas},
journal={{Machine Learning}},
volume={94},
number={2},
pages={151--167},
year={2014},
publisher={Springer US}
}

@inproceedings{abel14planning,
title={{Affordance-Aware Planning}},
author={Abel, David and Barth-Maron, Gabriel and MacGlashan, James and Tellex, Stefanie},
booktitle={{First Workshop on Affordances: Affordances in Vision for Cognitive Robotics}},
year={2014}
}

@inproceedings{walter13maps,
title={{Learning Semantic Maps from Natural Language Descriptions}},
author={Walter, Matthew R and Hemachandra, Sachithra and Homberg, Bianca and Tellex, Stefanie and Teller, Seth},
year={2013},
booktitle={{Robotics: Science and Systems}}
}

@article{geramifard13lfa,
title={{A Tutorial on Linear Function Approximators for Dynamic Programming and Reinforcement Learning}},
author={Geramifard, Alborz and Walsh, Thomas J and Tellex, Stefanie and Chowdhary, Girish and Roy, Nicholas and How, Jonathan P},
journal={{Foundations and Trends in Machine Learning}},
volume={6},
number={4},
pages={375--451},
year={2013}
}

@article{tellex13dialog,
title={{Toward Information Theoretic Human-Robot Dialog}},
author={Tellex, Stefanie and Thaker, Pratiksha and Deits, Robin and Simeonov, Dimitar and Kollar, Thomas and Roy, Nicholas},
journal={{Robotics: Science and Systems}},
pages={409},
year={2013},
publisher={MIT Press}
}

@article{deits13commands,
title={{Clarifying Commands with Information-Theoretic Human-Robot Dialog}},
author={Deits, Robin and Tellex, Stefanie and Thaker, Pratiksha and Simeonov, Dimitar and Kollar, Thomas and Roy, Nicholas},
journal={{Journal of Human-Robot Interaction}},
volume={2},
number={2},
pages={58--79},
year={2013}
}

@incollection{bollini13recipes,
title={{Interpreting and Executing Recipes with a Cooking Robot}},
author={Bollini, Mario and Tellex, Stefanie and Thompson, Tyler and Roy, Nicholas and Rus, Daniela},
booktitle={{Experimental Robotics}},
pages={481--495},
year={2013},
publisher={Springer International Publishing}
}

@inproceedings{tellex11language,
title={{Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation}},
author={Tellex, Stefanie and Kollar, Thomas and Dickerson, Steven and Walter, Matthew R and Banerjee, Ashis Gopal and Teller, Seth and Roy, Nicholas},
booktitle={{Proceedings of the American Association for the Advancement of Artificial Intelligence (AAAI)}},
year={2011}
}

@article{tellex11grounding,
title={{Approaching the Symbol Grounding Problem with Probabilistic Graphical Models}},
author={Tellex, Stefanie and Kollar, Thomas and Dickerson, Steven and Walter, Matthew R and Gopal Banerjee, Ashis and Teller, Seth and Roy, Nicholas},
journal={{AI Magazine}},
volume={32},
number={4},
pages={64},
year={2011}
}

@inproceedings{kollar10language,
title={{Toward Understanding Natural Language Directions}},
author={Kollar, Thomas and Tellex, Stefanie and Roy, Deb and Roy, Nicholas},
booktitle={{2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI)}},
pages={259--266},
year={2010},
organization={IEEE}
}

@inproceedings{huang10language,
title={{Natural Language Command of an Autonomous Micro-air Vehicle}},
author={Huang, Albert S and Tellex, Stefanie and Bachrach, Abraham and Kollar, Thomas and Roy, Deb and Roy, Nicholas},
booktitle={{Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}},
pages={2663--2669},
year={2010},
organization={IEEE}
}