Model based continual planning and control framework for assistive robotsAnier, Aivo; Vain, JüriPECCS 2012 : final program and book of abstracts : 2nd International Conference on Pervasive and Embedded Computing and Communication Systems, Rome, Italy, 24-26 February, 20122012 / p. 45 https://www.scitepress.org/Papers/2012/38271/38271.pdf

Model based continual planning and control framework for assistive robotsAnier, Aivo; Vain, JüriPECCS 2012 : proceedings of the 2nd International Conference on Pervasive and Embedded Computing and Communication Systems, Rome, Italy, 24-26 February, 20122012 / p. 403-406 https://www.scitepress.org/Papers/2012/38271/38271.pdf

Model based continual planning and control framework for assistive robotsAnier, Aivo; Vain, JüriHEALTHINF 2012 : proceedings of the International Conference on Health Informatics, Vilamoura, Algarve, Portugal, 1-4 February, 20122012 / p. 382-385 https://www.scitepress.org/Papers/2012/38271/38271.pdf