Luca Maria Gambardella

Dennis Weyland, Roberto Montemanni, Luca Maria Gambardella: Heuristics for the probabilistic traveling salesman problem with deadlines based on quasi-parallel Monte Carlo sampling. Computers & OR 40(7): 1661-1670 (2013)

Dennis Weyland, Roberto Montemanni, Luca Maria Gambardella: A metaheuristic framework for stochastic combinatorial optimization problems based on GPGPU with a case study on the probabilistic traveling salesman problem with deadlines. J. Parallel Distrib. Comput. 73(1): 74-85 (2013)

Michal Kudelski, Luca Maria Gambardella, Gianni A. Di Caro: RoboNetSim: An integrated framework for multi-robot and network simulation. Robotics and Autonomous Systems 61(5): 483-496 (2013)

Alessandro Giusti, Dan C. Ciresan, Jonathan Masci, Luca Maria Gambardella, Jürgen Schmidhuber: Fast Image Scanning with Deep Max-Pooling Convolutional Neural Networks. CoRR abs/1302.1700 (2013)

Luca Maria Gambardella, Roberto Montemanni, Dennis Weyland: Coupling ant colony systems with strong local searches. European Journal of Operational Research 220(3): 831-843 (2012)

Carlo Pinciroli, Vito Trianni, Rehan O'Grady, Giovanni Pini, Arne Brutschy, Manuele Brambilla, Nithin Mathews, Eliseo Ferrante, Gianni Di Caro, Frederick Ducatelle, Mauro Birattari, Luca Maria Gambardella, Marco Dorigo: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intelligence 6(4): 271-295 (2012)

Frederick Ducatelle, Gianni A. Di Caro, Luca Maria Gambardella: Spatial awareness in robotic swarms through local wireless communications. AAMAS 2012: 1205-1206

Alessandro Giusti, Jawad Nagi, Luca Maria Gambardella, Gianni A. Di Caro: Distributed consensus for interaction between humans and mobile robot swarms (demonstration). AAMAS 2012: 1503-1504

Alessandro Giusti, Jawad Nagi, Luca Maria Gambardella, Stéphane Bonardi, Gianni A. Di Caro: Human-swarm interaction through distributed cooperative gesture recognition. HRI 2012: 401-402

Jawad Nagi, Gianni A. Di Caro, Alessandro Giusti, Farrukh Nagi, Luca Maria Gambardella: Convolutional Neural Support Vector Machines: Hybrid Visual Pattern Classifiers for Multi-robot Systems. ICMLA (1) 2012: 27-32

Lorenzo Ruinelli, Matteo Salani, Luca Maria Gambardella: Hybrid Column Generation-based Approach for VRP with Simultaneous Distribution, Collection, Pickup-and-delivery and Real-world Side Constraints. ICORES 2012: 247-255

Alessandro Giusti, Jawad Nagi, Luca Maria Gambardella, Gianni A. Di Caro: Cooperative sensing and recognition by a swarm of mobile robots. IROS 2012: 551-558

Michal Kudelski, Marco Cinus, Luca Maria Gambardella, Gianni A. Di Caro: A framework for realistic simulation of networked multi-robot systems. IROS 2012: 5018-5025

Dennis Weyland, Roberto Montemanni, Luca Maria Gambardella: Hardness Results for the Probabilistic Traveling Salesman Problem with Deadlines. ISCO 2012: 392-403

Dan C. Ciresan, Alessandro Giusti, Luca Maria Gambardella, Jürgen Schmidhuber: Deep Neural Networks Segment Neuronal Membranes in Electron Microscopy Images. NIPS 2012: 2852-2860

Jawad Nagi, Hung Ngo, Alessandro Giusti, Luca Maria Gambardella, Jürgen Schmidhuber, Gianni A. Di Caro: Incremental learning using partial feedback for gesture-based human-swarm interaction. RO-MAN 2012: 898-905

János Barta, Andrea Emilio Rizzoli, Matteo Salani, Luca Maria Gambardella: Statistical modelling of delays in a rail freight transportation network. Winter Simulation Conference 2012: 286

Davide Anghinolfi, Roberto Montemanni, Massimo Paolucci, Luca Maria Gambardella: A hybrid particle swarm optimization approach for the sequential ordering problem. Computers & OR 38(7): 1076-1085 (2011)

Frederick Ducatelle, Gianni A. Di Caro, Carlo Pinciroli, Luca Maria Gambardella: Self-organized cooperation between robotic swarms. Swarm Intelligence 5(2): 73-96 (2011)

Marco Dorigo, Mauro Birattari, Gianni Di Caro, René Doursat, Andries Petrus Engelbrecht, Luca Maria Gambardella, Roderich Groß, Erol Sahin, Thomas Stützle: ANTS 2010 special issue - Editorial. Swarm Intelligence 5(3-4): 143-147 (2011)

Alessandro Giusti, Pierluigi Taddei, Giorgio Corani, Luca Maria Gambardella, Cristina Magli, Luca Gianaroli: Artificial Defocus for Displaying Markers in Microscopy Z-Stacks. IEEE Trans. Vis. Comput. Graph. 17(12): 1757-1764 (2011)

Dennis Weyland, Roberto Montemanni, Luca Maria Gambardella: Using Statistical Tests for Improving State-of-the-Art Heuristics for the Probabilistic Traveling Salesman Problem with Deadlines. EUROCAST (1) 2011: 448-455

Dan Claudiu Ciresan, Ueli Meier, Luca Maria Gambardella, Jürgen Schmidhuber: Convolutional Neural Network Committees for Handwritten Character Classification. ICDAR 2011: 1135-1139

Ueli Meier, Dan Claudiu Ciresan, Luca Maria Gambardella, Jürgen Schmidhuber: Better Digit Recognition with a Committee of Simple Neural Nets. ICDAR 2011: 1250-1254

Jawad Nagi, Frederick Ducatelle, Gianni A. Di Caro, Dan C. Ciresan, Ueli Meier, Alessandro Giusti, Farrukh Nagi, Jürgen Schmidhuber, Luca Maria Gambardella: Max-pooling convolutional neural networks for vision-based hand gesture recognition. ICSIPA 2011: 342-347

Dan Claudiu Ciresan, Ueli Meier, Jonathan Masci, Luca Maria Gambardella, Jürgen Schmidhuber: Flexible, High Performance Convolutional Neural Networks for Image Classification. IJCAI 2011: 1237-1242

Frederick Ducatelle, Gianni A. Di Caro, Carlo Pinciroli, Francesco Mondada, Luca Maria Gambardella: Communication assisted navigation in robotic swarms: Self-organization and cooperation. IROS 2011: 4981-4988

Carlo Pinciroli, Vito Trianni, Rehan O'Grady, Giovanni Pini, Arne Brutschy, Manuele Brambilla, Nithin Mathews, Eliseo Ferrante, Gianni Di Caro, Frederick Ducatelle, Timothy S. Stirling, Álvaro Gutiérrez, Luca Maria Gambardella, Marco Dorigo: ARGoS: A modular, multi-engine simulator for heterogeneous swarm robotics. IROS 2011: 5027-5034

Davide Anghinolfi, Luca Maria Gambardella, Roberto Montemanni, Cristiano Nattero, Massimo Paolucci, N. E. Toklu: A Matheuristic Algorithm for a Large-Scale Energy Management Problem. LSSC 2011: 173-181

Andreagiovanni Reina, Gianni A. Di Caro, Frederick Ducatelle, Luca Maria Gambardella: Distributed Motion Planning for Ground Objects Using a Network of Robotic Ceiling Cameras. TAROS 2011: 137-148

Dan C. Ciresan, Ueli Meier, Jonathan Masci, Luca Maria Gambardella, Jürgen Schmidhuber: High-Performance Neural Networks for Visual Object Classification. CoRR abs/1102.0183 (2011)

Dan C. Ciresan, Ueli Meier, Luca Maria Gambardella, Jürgen Schmidhuber: Handwritten Digit Recognition with a Committee of Deep Neural Nets on GPUs. CoRR abs/1103.4487 (2011)

Dan Claudiu Ciresan, Ueli Meier, Luca Maria Gambardella, Jürgen Schmidhuber: Deep, Big, Simple Neural Nets for Handwritten Digit Recognition. Neural Computation 22(12): 3207-3220 (2010)

Frederick Ducatelle, Gianni A. Di Caro, Luca Maria Gambardella: Principles and applications of swarm intelligence for adaptive routing in telecommunications networks. Swarm Intelligence 4(3): 173-198 (2010)

Frederick Ducatelle, Gianni A. Di Caro, Alexander Förster, Luca Maria Gambardella: Mobile Stigmergic Markers for Navigation in a Heterogeneous Robotic Swarm. ANTS Conference 2010: 456-463

Alessandro Giusti, Giorgio Corani, Luca Maria Gambardella, Cristina Magli, Luca Gianaroli: Simultaneous Focusing and Contouring of Human Zygotes for in Vitro Fertilization. BIOSIGNALS 2010: 151-158

Frederick Ducatelle, Gianni A. Di Caro, Luca Maria Gambardella: Cooperative self-organization in a heterogeneous swarm robotic system. GECCO 2010: 87-94

Alessandro Giusti, Giorgio Corani, Luca Maria Gambardella, Cristina Magli, Luca Gianaroli: Blastomere segmentation and 3D morphology measurements of early embryos from hoffman modulation contrast image stacks. ISBI 2010: 1261-1264

Alessandro Giusti, Giorgio Corani, Luca Maria Gambardella, Cristina Magli, Luca Gianaroli: 3D Localization of Pronuclei of Human Zygotes Using Textures from Multiple Focal Planes. MICCAI (2) 2010: 488-495

Frederick Ducatelle, Gianni A. Di Caro, Luca Maria Gambardella: Cooperative Stigmergic Navigation in a Heterogeneous Robotic Swarm. SAB 2010: 607-617

Marco Dorigo, Mauro Birattari, Gianni A. Di Caro, René Doursat, Andries Petrus Engelbrecht, Dario Floreano, Luca Maria Gambardella, Roderich Groß, Erol Sahin, Hiroki Sayama, Thomas Stützle (Eds.): Swarm Intelligence - 7th International Conference, ANTS 2010, Brussels, Belgium, September 8-10, 2010. Proceedings. Lecture Notes in Computer Science 6234, Springer 2010, isbn 978-3-642-15460-7

Dan Claudiu Ciresan, Ueli Meier, Luca Maria Gambardella, Jürgen Schmidhuber: Deep Big Simple Neural Nets Excel on Handwritten Digit Recognition. CoRR abs/1003.0358 (2010)

Luca Maria Gambardella, Alain Hertz, Frédéric Maffray, Marino Widmer: Foreword. Discrete Applied Mathematics 157(17): 3495-3496 (2009)

Leonora Bianchi, Marco Dorigo, Luca Maria Gambardella, Walter J. Gutjahr: A survey on metaheuristics for stochastic combinatorial optimization. Natural Computing 8(2): 239-287 (2009)

Andries Petrus Engelbrecht, Xiaodong Li, Martin Middendorf, Luca Maria Gambardella: Editorial Special Issue: Swarm Intelligence. IEEE Trans. Evolutionary Computation 13(4): 677-680 (2009)

Dennis Weyland, Leonora Bianchi, Luca Maria Gambardella: New Approximation-Based Local Search Algorithms for the Probabilistic Traveling Salesman Problem. EUROCAST 2009: 681-688

Gianni A. Di Caro, Frederick Ducatelle, Luca Maria Gambardella: Wireless Communications for Distributed Navigation in Robot Swarms. EvoWorkshops 2009: 21-30

Alessandro Giusti, Giorgio Corani, Luca Maria Gambardella, Cristina Magli, Luca Gianaroli: Lighting-Aware Segmentation of Microscopy Images for In Vitro Fertilization. ISVC (1) 2009: 576-585

Roberto Montemanni, D. H. Smith, Luca Maria Gambardella: A heuristic manipulation technique for the sequential ordering problem. Computers & OR 35(12): 3931-3944 (2008)

Alberto V. Donati, Roberto Montemanni, Norman Casagrande, Andrea Emilio Rizzoli, Luca Maria Gambardella: Time dependent vehicle routing problem with a multi ant colony system. European Journal of Operational Research 185(3): 1174-1191 (2008)

Gianni Di Caro, Frederick Ducatelle, Luca Maria Gambardella: A Simulation Study of Routing Performance in Realistic Urban Scenarios for MANETs. ANTS Conference 2008: 211-218

Frederick Ducatelle, Gianni A. Di Caro, Luca Maria Gambardella: Robot Navigation in a Networked Swarm. ICIRA (1) 2008: 275-285

Frederick Ducatelle, Gianni A. Di Caro, Luca Maria Gambardella: A new approach for integrating proactive and reactive routing in MANETs. MASS 2008: 377-383

Andrea Emilio Rizzoli, Roberto Montemanni, Enzo Lucibello, Luca Maria Gambardella: Ant colony optimization for real-world vehicle routing problems. Swarm Intelligence 1(2): 135-151 (2007)

Roberto Montemanni, János Barta, Monaldo Mastrolilli, Luca Maria Gambardella: The Robust Traveling Salesman Problem with Interval Data. Transportation Science 41(3): 366-381 (2007)

Frederick Ducatelle, Martin Roth, Luca Maria Gambardella: Design of a User Space Software Suite for Probabilistic Routing in Ad-Hoc Networks. EvoWorkshops 2007: 121-128

Özalp Babaoglu, Geoffrey Canright, Andreas Deutsch, Gianni Di Caro, Frederick Ducatelle, Luca Maria Gambardella, Niloy Ganguly, Márk Jelasity, Roberto Montemanni, Alberto Montresor, Tore Urnes: Design patterns from biology for distributed computing. TAAS 1(1): 26-66 (2006)

Frederick Ducatelle, Gianni Di Caro, Luca Maria Gambardella: An Analysis of the Different Components of the AntHocNet Routing Algorithm. ANTS Workshop 2006: 37-48

Frederick Ducatelle, Luca Maria Gambardella, Maciej Kurant, Hung Xuan Nguyen, Patrick Thiran: Algorithms for Failure Protection in Large IP-over-fiber and Wireless Ad Hoc Networks. Research Results of the DICS Program 2006: 231-259

Marco Dorigo, Luca Maria Gambardella, Mauro Birattari, Alcherio Martinoli, Riccardo Poli, Thomas Stützle (Eds.): Ant Colony Optimization and Swarm Intelligence, 5th International Workshop, ANTS 2006, Brussels, Belgium, September 4-7, 2006, Proceedings. Lecture Notes in Computer Science 4150, Springer 2006, isbn 3-540-38482-0

Roberto Montemanni, Luca Maria Gambardella: The robust shortest path problem with interval data via Benders decomposition. 4OR 3(4): 315-328 (2005)

Roberto Montemanni, Luca Maria Gambardella: Exact algorithms for the minimum power symmetric connectivity problem in wireless networks. Computers & OR 32: 2891-2904 (2005)

Roberto Montemanni, Luca Maria Gambardella: A branch and bound algorithm for the robust spanning tree problem with interval data. European Journal of Operational Research 161(3): 771-779 (2005)

Luca Maria Gambardella, Silvano Martello: Metaheuristics and worst-case guarantee algorithms: relations, provable properties and applications (ECCO XV). European Journal of Operational Research 166(1): 1-2 (2005)

Monaldo Mastrolilli, Luca Maria Gambardella: Maximum satisfiability: How good are tabu search and plateau moves in the worst-case? European Journal of Operational Research 166(1): 63-76 (2005)

Gianni Di Caro, Frederick Ducatelle, Luca Maria Gambardella: AntHocNet: an adaptive nature-inspired algorithm for routing in mobile ad hoc networks. European Transactions on Telecommunications 16(5): 443-455 (2005)

Frederick Ducatelle, Gianni Di Caro, Luca Maria Gambardella: Using Ant Agents to Combine Reactive and Proactive Strategies for Routing in Mobile Ad-hoc Networks. International Journal of Computational Intelligence and Applications 5(2): 169-184 (2005)

Roberto Montemanni, Luca Maria Gambardella, Andrea Emilio Rizzoli, Alberto V. Donati: Ant Colony System for a Dynamic Vehicle Routing Problem. J. Comb. Optim. 10(4): 327-343 (2005)

Frederick Ducatelle, Luca Maria Gambardella: Survivable routing in IP-over-WDM networks: An efficient and scalable local search algorithm. Optical Switching and Networking 2(2): 86-99 (2005)

Roberto Montemanni, Luca Maria Gambardella: Power-Aware Distributed Protocol for a Connectivity Problem in Wireless Sensor Networks. Self-star Properties in Complex Information Systems 2005: 403-416

Liliana Carrillo, Carles Guadall, José-Luis Marzo, Gianni Di Caro, Frederick Ducatelle, Luca Maria Gambardella: Differentiated quality of service scheme based on the use of multi-classes of ant-like mobile agents. CoNEXT 2005: 234-235

Roberto Montemanni, Luca Maria Gambardella, Arindam Kumar Das: The minimum power broadcast problem in wireless networks: a simulated annealing approach. WCNC 2005: 2057-2062

Frederick Ducatelle, Gianni Di Caro, Luca Maria Gambardella: Ant Agents for Hybrid Multipath Routing in Mobile Ad Hoc Networks. WONS 2005: 44-53

Francesco Mondada, Giovanni C. Pettinaro, André Guignard, Ivo W. Kwee, Dario Floreano, Jean-Louis Deneubourg, Stefano Nolfi, Luca Maria Gambardella, Marco Dorigo: Swarm-Bot: A New Distributed Robotic Concept. Auton. Robots 17(2-3): 193-221 (2004)

Marco Dorigo, Vito Trianni, Erol Sahin, Roderich Groß, Thomas Halva Labella, Gianluca Baldassarre, Stefano Nolfi, Jean-Louis Deneubourg, Francesco Mondada, Dario Floreano, Luca Maria Gambardella: Evolving Self-Organizing Behaviors for a Swarm-Bot. Auton. Robots 17(2-3): 223-245 (2004)

Roberto Montemanni, Luca Maria Gambardella: An exact algorithm for the robust shortest path problem with interval data. Computers & OR 31(10): 1667-1680 (2004)

Roberto Montemanni, Luca Maria Gambardella, Alberto V. Donati: A branch and bound algorithm for the robust shortest path problem with interval data. Oper. Res. Lett. 32(3): 225-232 (2004)

Monaldo Mastrolilli, Luca Maria Gambardella: MAX-2-SAT: How Good Is Tabu Search in the Worst-Case? AAAI 2004: 173-178

Frederick Ducatelle, Luca Maria Gambardella: A Scalable Algorithm for Survivable Routing in IP-Over-WDM Networks. BROADNETS 2004: 54-63

Frederick Ducatelle, Luca Maria Gambardella: FastSurv: a new efficient local search algorithm for survivable routing in WDM networks. GLOBECOM 2004: 1925-1929

Roberto Montemanni, Luca Maria Gambardella: Minimum Power Symmetric Connectivity Problem in Wireless Networks: A New Approach. MWCN 2004: 497-508

Gianni Di Caro, Frederick Ducatelle, Luca Maria Gambardella: AntHocNet: An Ant-Based Hybrid Routing Algorithm for Mobile Ad Hoc Networks. PPSN 2004: 461-470

Marco Dorigo, Elio Tuci, Roderich Groß, Vito Trianni, Thomas Halva Labella, Shervin Nouyan, Christos Ampatzis, Jean-Louis Deneubourg, Gianluca Baldassarre, Stefano Nolfi, Francesco Mondada, Dario Floreano, Luca Maria Gambardella: The SWARM-BOTS Project. Swarm Robotics 2004: 31-44

Marco Dorigo, Mauro Birattari, Christian Blum, Luca Maria Gambardella, Francesco Mondada, Thomas Stützle (Eds.): Ant Colony Optimization and Swarm Intelligence, 4th International Workshop, ANTS 2004, Brussels, Belgium, September 5 - 8, 2004, Proceedings. Lecture Notes in Computer Science 3172, Springer 2004, isbn 3-540-22672-9

Andrea Emilio Rizzoli, Nicoletta Fornara, Luca Maria Gambardella: A simulation tool for combined rail/road transport in intermodal terminals. Mathematics and Computers in Simulation 59(1-3): 57-71 (2002)

Luca Maria Gambardella, Andrea Emilio Rizzoli, Petra Funk: Agent-based Planning and Simulation of Combined Rail/Road Transport. Simulation 78(5): 293-303 (2002)

Luca Maria Gambardella, Marco Dorigo, Martin Middendorf, Thomas Stützle: Guest editorial: special section on ant colony optimization. IEEE Trans. Evolutionary Computation 6(4): 317-319 (2002)

Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo: Solving the Homogeneous Probabilistic Traveling Salesman Problem by the ACO Metaheuristic. Ant Algorithms 2002: 176-187

Olivia Rossi-Doria, Michael Sampels, Mauro Birattari, Marco Chiarandini, Marco Dorigo, Luca Maria Gambardella, Joshua D. Knowles, Max Manfrin, Monaldo Mastrolilli, Ben Paechter, Luis Paquete, Thomas Stützle: A Comparison of the Performance of Different Metaheuristics on the Timetabling Problem. PATAT 2002: 329-354

Leonora Bianchi, Luca Maria Gambardella, Marco Dorigo: An Ant Colony Optimization Approach to the Probabilistic Traveling Salesman Problem. PPSN 2002: 883-892

Auke Jan Ijspeert, Alcherio Martinoli, Aude Billard, Luca Maria Gambardella: Collaboration Through the Exploitation of Local Interactions in Autonomous Collective Robotics: The Stick Pulling Experiment. Auton. Robots 11(2): 149-171 (2001)

Éric D. Taillard, Luca Maria Gambardella, Michel Gendreau, Jean-Yves Potvin: Adaptive memory programming: A unified view of metaheuristics. European Journal of Operational Research 135(1): 1-16 (2001)

Nicoletta Fornara, Luca Maria Gambardella: An Autonomous Bidding Agent for Simultaneous Auctions. CIA 2001: 130-141

Luca Maria Gambardella, Marco Dorigo: An Ant Colony System Hybridized with a New Local Search for the Sequential Ordering Problem. INFORMS Journal on Computing 12(3): 237-255 (2000)

Marco Dorigo, Gianni Di Caro, Luca Maria Gambardella: Ant Algorithms for Discrete Optimization. Artificial Life 5(2): 137-172 (1999)

Alcherio Martinoli, Auke Jan Ijspeert, Luca Maria Gambardella: A Probabilistic Model for Understanding and Comparing Collective Aggregation Mechansims. ECAL 1999: 575-584

Luca Maria Gambardella, Andrea Emilio Rizzoli, Marco Zaffalon: Simulation and Planning of an Intermodal Container Terminal. Simulation 71(2): 107-116 (1998)

Marco Dorigo, Luca Maria Gambardella: Ant colony system: a cooperative learning approach to the traveling salesman problem. IEEE Trans. Evolutionary Computation 1(1): 53-66 (1997)

Cristina Versino, Luca Maria Gambardella: Ibots Learn Genuine Team Solutions. ECML 1997: 298-311

Cristina Versino, Luca Maria Gambardella: Learning Real Team Solutions. ECAI Workshop LDAIS / ICMAS Workshop LIOME 1996: 40-61

Cristina Versino, Luca Maria Gambardella: Learing Fine Motion by Using the Hierarchical Extended Kohonen Map. ICANN 1996: 221-226

Hugues Bersini, Marco Dorigo, Stefan Langerman, Gregory Seront, Luca Maria Gambardella: Results of the First International Contest on Evolutionary Optimisation (1st ICEO). International Conference on Evolutionary Computation 1996: 611-615

Luca Maria Gambardella, Marco Dorigo: Solving Symmetric and Asymmetric TSPs by Ant Colonies. International Conference on Evolutionary Computation 1996: 622-627

Marco Dorigo, Luca Maria Gambardella: A Study of Some Properties of Ant-Q. PPSN 1996: 656-665

Luca Maria Gambardella, Marco Dorigo: Ant-Q: A Reinforcement Learning Approach to the Traveling Salesman Problem. ICML 1995: 252-260

Michele Aicardi, Andrea Caiti, Giorgio Cannata, Giuseppe Casalino, Luca Maria Gambardella: Manipulators Trajectory Tracking with Reduced Order Velocity Observers. ICRA 1995: 2451-2455

Cristina Versino, Luca Maria Gambardella: Learning the Visuomotor Coordination of a Mobile Robot by Using the Invertible Kohonen Map. IWANN 1995: 1084-1091

Luca Maria Gambardella, Cristina Versino: Robot Motion Planning Integrating Planning Strategies and Learning Methods. AIPS 1994: 261-265

Luca Maria Gambardella, M. Haex: Grasp Planning for Automatic Assembly Tasks Using Artificial Fields. ECAI 1992: 681-682