Symbolic structures in numeric reinforcement for learning optimum robot trajectory
@Article{hailu01ras,
  author = 	 {G. Hailu},
  title = 	 {Symbolic structures in numeric reinforcement for learning optimum robot trajectory},
  journal = 	 {Robotics and Autonomous Systems},
  year = 	 2001,
  volume =	 37,
  pages =	 {53-68}
}