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Flavell, Stephen J. and Winter, Stephen and Wilson, Derek R. and Hart, E.R. (1996) Design of a distributed software architecture for an intelligent planning system. IEE Proceedings Part D - Control Theory and Applications, 143 (2). pp. 125-131. ISSN 1350-2379
Flavell, Stephen J. and Winter, Stephen and Hart, E.R. and Wilson, Derek R. (1993) Simulation of a parallel robot arm planning system using Transim and Gecko. International Journal in Computer Simulation, 3 (2). pp. 129-146. ISSN 1055-8470
Winter, Stephen and Wilson, Derek R. and Taylor, Simon J.E. and Paganelli, F. and Genolini, F.D. and Flavell, Stephen J. and Hart, E.R. and Kalantery, Nasser and Subramanyam, K. and Davenport, A. (1992) Software development tools for transputer Systems. In: 15th Technical Meeting of World occam and Transputer User Group (WoTUG), 13 - 15 Apr 1992, Aberdeen.