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www.intechopen.com
New Trends in Technologies
Edited by Blandna ramov

ISBN 978-953-7619-62-6
Hard cover, 242 pages
Publisher InTech
Published online 01, January, 2010
Published in print edition January, 2010

This book provides an overview of subjects in various fields of life. Authors solve current topics that present
high methodical level. This book consists of 13 chapters and collects original and innovative research studies.

How to reference
In order to correctly reference this scholarly work, feel free to copy and paste the following:

Jasmin Velagic, Nedim Osmic and Bakir Lacevic (2010). Design of Neural Network Mobile Robot Motion
Controller, New Trends in Technologies, Blandna ramov (Ed.), ISBN: 978-953-7619-62-6, InTech, Available
from: http://www.intechopen.com/books/new-trends-in-technologies/design-of-neural-network-mobile-robot-
motion-controller

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