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Small-Size Liveness-Enforcing Supervisor for Automated Manu..:

Feng, Yanxiang ; Ren, Sida ; Ren, Xiaodong..
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  53 (2023)  4 - p. 2222-2235 , 2023
Link: https://doi.org/10.1109/tsmc.2022.3209156