| Original language | English (US) |
|---|---|
| Pages (from-to) | 72-79 |
| Number of pages | 8 |
| Journal | IEEE Intelligent Systems |
| Volume | 19 |
| Issue number | 3 |
| DOIs | |
| State | Published - 2004 |
Bibliographical note
Funding Information:This article is based on work supported by the US National Science Foundation under award number IIS-0324955; DARPA, through the Department of the Interior; NBC,Acquisition Services Division, under contract number NBCHD030010; the US Air Force Office of Scientific Research under grant numbers F49620-01-1-0053 and FA9550-04-1-0105; the US Air Force under contract number F49620-02-C-0103; and a gift from the Microsoft Corporation.