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Chenn-Jung Huang, Yu-Wu Wang, Heng-Ming Chen, Han-Wen Tsai, Jui-Jiun Jian, Ai-Lin Cheng, Jia-Jian Liao. Application of cellular automata and type-2 fuzzy logic to dynamic vehicle path planning. Appl. Soft Comput., 19:333-342, 2014. [doi]