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Willsky, A., Chow, E., Gershwin, S., Greene, C., Houpt, P. and Kurkjian, A. (1980) Dynamic Model-Based Techniques for the Detection of Incidents on Freeways. IEEE Transactions on Automatic Control, 25, 347-360.
https://doi.org/10.1109/TAC.1980.1102392

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