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2020 – today
- 2024
[j18]Ezzat Elokda
, Saverio Bolognani, Andrea Censi, Florian Dörfler, Emilio Frazzoli:
Dynamic Population Games: A Tractable Intersection of Mean-Field Games and Population Games. IEEE Control. Syst. Lett. 8: 1072-1077 (2024)- [j17]Ezzat Elokda, Saverio Bolognani, Andrea Censi, Florian Dörfler, Emilio Frazzoli:
A Self-Contained Karma Economy for the Dynamic Allocation of Common Resources. Dyn. Games Appl. 14(3): 578-610 (2024) - [i26]Mingjia He, Andrea Censi, Emilio Frazzoli, Gioele Zardini:
Co-investment with Payoff Sharing Benefit Operators and Users in Network Design. CoRR abs/2409.19409 (2024) - 2023
- [j16]Alessandro Zanardi, Pier Giuseppe Sessa, Nando Käslin, Saverio Bolognani, Andrea Censi, Emilio Frazzoli:
How Bad is Selfish Driving? Bounding the Inefficiency of Equilibria in Urban Driving Games. IEEE Robotics Autom. Lett. 8(4): 2293-2300 (2023) - [j15]Abolfazl Lavaei, Luigi Di Lillo, Andrea Censi, Emilio Frazzoli:
Formal Estimation of Collision Risks for Autonomous Vehicles: A Compositional Data-Driven Approach. IEEE Trans. Control. Netw. Syst. 10(1): 407-418 (2023) - [j14]Enrico Picotti, Enrico Mion, Alberto Dalla Libera, Josip Pavlovic, Andrea Censi, Emilio Frazzoli, Alessandro Beghi, Mattia Bruschetta:
A Learning-Based Nonlinear Model Predictive Controller for a Real Go-Kart Based on Black-Box Dynamics Modeling Through Gaussian Processes. IEEE Trans. Control. Syst. Technol. 31(5): 2055-2065 (2023) - [j13]Gioele Zardini, Nicolas Lanzetti, Andrea Censi, Emilio Frazzoli, Marco Pavone:
Co-Design to Enable User-Friendly Tools to Assess the Impact of Future Mobility Solutions. IEEE Trans. Netw. Sci. Eng. 10(2): 827-844 (2023) - [c60]Ezzat Elokda, Carlo Cenedese, Kenan Zhang, Andrea Censi, Saverio Bolognani, Emilio Frazzoli:
A Dynamic Population Game Model of Non-Monetary Bottleneck Congestion Management Under Elastic Demand Using Karma. CDC 2023: 120-125 - [c59]Alessandro Zanardi, Pietro Zullo, Andrea Censi, Emilio Frazzoli:
Factorization of Multi-Agent Sampling-Based Motion Planning. CDC 2023: 8108-8115 - [c58]Luca Sandel, Gioele Zardini, Sofija Mitrova, Tanya Thekemuriyil, Renato Minamisawa, Munaf Rahimo, Andrea Censi, Emilio Frazzoli, Silvia Mastellone:
Enhancing Efficiency and Reliability of Electric Vehicles via Adaptive E-Gear Control. ITSC 2023: 2226-2232 - [c57]Ezzat Elokda, Carlo Cenedese, Kenan Zhang, Andrea Censi, John Lygeros, Emilio Frazzoli:
Karma Priority lanes for fair and efficient bottleneck congestion management. MED 2023: 458-463 - [i25]Alessandro Zanardi, Pietro Zullo, Andrea Censi, Emilio Frazzoli:
Factorization of Multi-Agent Sampling-Based Motion Planning. CoRR abs/2304.00342 (2023) - [i24]Enrico Picotti, Enrico Mion, Alberto Dalla Libera, Josip Pavlovic, Andrea Censi, Emilio Frazzoli, Alessandro Beghi, Mattia Bruschetta:
A Learning-based Nonlinear Model Predictive Controller for a Real Go-Kart based on Black-box Dynamics Modeling through Gaussian Processes. CoRR abs/2305.17949 (2023) - [i23]Alessandro Zanardi, Andrea Censi, Margherita Atzei, Luigi Di Lillo, Emilio Frazzoli:
A Counterfactual Safety Margin Perspective on the Scoring of Autonomous Vehicles' Riskiness. CoRR abs/2308.01050 (2023) - 2022
- [j12]Guillermo Gallego, Tobi Delbrück, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew J. Davison, Jörg Conradt, Kostas Daniilidis, Davide Scaramuzza:
Event-Based Vision: A Survey. IEEE Trans. Pattern Anal. Mach. Intell. 44(1): 154-180 (2022) - [j11]Alessandro Zanardi, Gioele Zardini, Sirish Srinivasan, Saverio Bolognani, Andrea Censi, Florian Dörfler, Emilio Frazzoli:
Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games With Prioritized Metrics. IEEE Robotics Autom. Lett. 7(2): 1292-1299 (2022) - [c56]Gioele Zardini, Zelio Suter, Andrea Censi, Emilio Frazzoli:
Task-driven Modular Co-design of Vehicle Control Systems. CDC 2022: 2196-2203 - [c55]Abolfazl Lavaei, Luigi Di Lillo, Margherita Atzei, Andrea Censi, Emilio Frazzoli:
Poster Abstract: Data-Driven Estimation of Collision Risks for Autonomous Vehicles with Formal Guarantees. HSCC 2022: 27:1-27:2 - [c54]Zhitao Yu, Gioele Zardini, Andrea Censi, Sawyer B. Fuller:
Visual Confined-Space Navigation Using an Efficient Learned Bilinear Optic Flow Approximation for Insect-scale Robots. IROS 2022: 4250-4256 - [c53]Marco Wiedner, Francesco Branca, Enrico Mion, Andrea Censi, Emilio Frazzoli:
Contextual Driving Scene Perception from Anonymous Vehicle Bus Data for Automotive Applications. IROS 2022: 13010-13017 - [c52]Alessandro Zanardi, Saverio Bolognani, Andrea Censi, Florian Dörfler, Emilio Frazzoli:
Factorization of Dynamic Games over Spatio-Temporal Resources. IROS 2022: 13159-13166 - [c51]Andrea Censi, Emilio Frazzoli, Jonathan Lorand, Gioele Zardini:
Categorification of Negative Information using Enrichment. ACT 2022: 22-40 - [i22]Gioele Zardini, Zelio Suter, Andrea Censi, Emilio Frazzoli:
Task-driven Modular Co-design of Vehicle Control Systems. CoRR abs/2203.16640 (2022) - [i21]Ezzat Elokda, Saverio Bolognani, Andrea Censi, Florian Dörfler, Emilio Frazzoli:
A self-contained karma economy for the dynamic allocation of common resources. CoRR abs/2207.00495 (2022) - [i20]Alessandro Zanardi, Pier Giuseppe Sessa, Nando Käslin, Saverio Bolognani, Andrea Censi, Emilio Frazzoli:
How Bad is Selfish Driving? Bounding the Inefficiency of Equilibria in Urban Driving Games. CoRR abs/2210.13064 (2022) - 2021
- [j10]Alessandro Zanardi, Enrico Mion, Mattia Bruschetta, Saverio Bolognani, Andrea Censi, Emilio Frazzoli:
Urban Driving Games With Lexicographic Preferences and Socially Efficient Nash Equilibria. IEEE Robotics Autom. Lett. 6(3): 4978-4985 (2021) - [j9]Aleksandr Sakhnevych, Vincenzo Maria Arricale, Mattia Bruschetta, Andrea Censi, Enrico Mion, Enrico Picotti, Emilio Frazzoli:
Investigation on the Model-Based Control Performance in Vehicle Safety Critical Scenarios with Varying Tyre Limits. Sensors 21(16): 5372 (2021) - [c50]Gioele Zardini, Andrea Censi, Emilio Frazzoli:
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis. ECC 2021: 682-689 - [c49]Anthony Courchesne, Andrea Censi, Liam Paull:
On Assessing the Usefulness of Proxy Domains for Developing and Evaluating Embodied Agents. IROS 2021: 4298-4305 - [c48]Gioele Zardini, Dejan Milojevic, Andrea Censi, Emilio Frazzoli:
Co-design of Embodied Intelligence: A Structured Approach. IROS 2021: 7536-7543 - [c47]Julian G. Zilly, Alessandro Achille, Andrea Censi, Emilio Frazzoli:
On Plasticity, Invariance, and Mutually Frozen Weights in Sequential Task Learning. NeurIPS 2021: 12386-12399 - [i19]Ezzat Elokda, Andrea Censi, Saverio Bolognani:
Dynamic population games. CoRR abs/2104.14662 (2021) - [i18]Anthony Courchesne, Andrea Censi, Liam Paull:
On Assessing the Usefulness of Proxy Domains for Developing and Evaluating Embodied Agents. CoRR abs/2109.14516 (2021) - [i17]Alessandro Zanardi, Gioele Zardini, Sirish Srinivasan, Saverio Bolognani, Andrea Censi, Florian Dörfler, Emilio Frazzoli:
Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics. CoRR abs/2111.07099 (2021) - [i16]Abolfazl Lavaei, Luigi Di Lillo, Andrea Censi, Emilio Frazzoli:
Formal Estimation of Collision Risks for Autonomous Vehicles: A Compositional Data-Driven Approach. CoRR abs/2112.07187 (2021) - 2020
- [c46]Jacopo Tani, Andrea F. Daniele, Gianmarco Bernasconi, Amaury Camus, Aleksandar Petrov, Anthony Courchesne, Bhairav Mehta, Rohit Suri, Tomasz Zaluska, Matthew R. Walter, Emilio Frazzoli, Liam Paull, Andrea Censi:
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents. IROS 2020: 6229-6236 - [c45]Gioele Zardini, Nicolas Lanzetti, Mauro Salazar, Andrea Censi, Emilio Frazzoli, Marco Pavone:
On the Co-Design of AV-Enabled Mobility Systems. ITSC 2020: 1-8 - [c44]Gioele Zardini, David I. Spivak, Andrea Censi, Emilio Frazzoli:
A Compositional Sheaf-Theoretic Framework for Event-Based Systems. ACT 2020: 139-153 - [i15]Gioele Zardini, Nicolas Lanzetti, Andrea Censi, Emilio Frazzoli, Marco Pavone:
On the Co-Design of AV-Enabled Mobility Systems. CoRR abs/2003.04739 (2020) - [i14]Gioele Zardini, David I. Spivak, Andrea Censi, Emilio Frazzoli:
A Compositional Sheaf-Theoretic Framework for Event-Based Systems. CoRR abs/2005.04715 (2020) - [i13]Gioele Zardini, Nicolas Lanzetti, Andrea Censi, Emilio Frazzoli, Marco Pavone:
Co-Design to Enable User-Friendly Tools to Assess the Impact of Future Mobility Solutions. CoRR abs/2008.08975 (2020) - [i12]Jacopo Tani, Andrea F. Daniele, Gianmarco Bernasconi, Amaury Camus, Aleksandar Petrov, Anthony Courchesne, Bhairav Mehta, Rohit Suri, Tomasz Zaluska, Matthew R. Walter, Emilio Frazzoli, Liam Paull, Andrea Censi:
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents. CoRR abs/2009.04362 (2020) - [i11]Gioele Zardini, Dejan Milojevic, Andrea Censi, Emilio Frazzoli:
A Formal Approach to the Co-Design of Embodied Intelligence. CoRR abs/2011.10756 (2020) - [i10]Gioele Zardini, Andrea Censi, Emilio Frazzoli:
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis. CoRR abs/2011.10758 (2020)
2010 – 2019
- 2019
- [c43]Yannik Nager, Andrea Censi, Emilio Frazzoli:
What lies in the shadows? Safe and computation-aware motion planning for autonomous vehicles using intent-aware dynamic shadow regions. ICRA 2019: 5800-5806 - [c42]Alessandro Zanardi, Julian G. Zilly, Andreas Aumiller, Andrea Censi, Emilio Frazzoli:
Wormhole Learning. ICRA 2019: 7899-7905 - [c41]Andrea Censi, Konstantin Slutsky, Tichakorn Wongpiromsarn, Dmitry S. Yershov, Scott Pendleton, James Guo Ming Fu, Emilio Frazzoli:
Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks. ICRA 2019: 8536-8542 - [c40]Ni-Ching Lin, Michael Benjamin, Chi-Fang Chen, Hsueh-Cheng Wang, Yu-Chieh Hsiao, Yi-Wei Huang, Ching-Tang Hung, Tzu-Kuan Chuang, Pin-Wei Chen, Jui-Te Huang, Chao-Chun Hsu, Andrea Censi:
Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles. IROS 2019: 7219-7226 - [c39]Andrea Censi, Saverio Bolognani, Julian G. Zilly, Shima Sadat Mousavi, Emilio Frazzoli:
Today Me, Tomorrow Thee: Efficient Resource Allocation in Competitive Settings using Karma Games. ITSC 2019: 686-693 - [c38]Alessandro Zanardi, Andreas Aumiller, Julian G. Zilly, Andrea Censi, Emilio Frazzoli:
Cross-Modal Learning Filters for RGB-Neuromorphic Wormhole Learning. Robotics: Science and Systems 2019 - [i9]Andrea Censi, Konstantin Slutsky, Tichakorn Wongpiromsarn, Dmitry S. Yershov, Scott Pendleton, James Guo Ming Fu, Emilio Frazzoli:
Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks. CoRR abs/1902.09355 (2019) - [i8]Julian G. Zilly, Jacopo Tani, Breandan Considine, Bhairav Mehta, Andrea F. Daniele, Manfred Diaz, Gianmarco Bernasconi, Claudio Ruch, Jan Hakenberg, Florian Golemo, A. Kirsten Bowser, Matthew R. Walter, Ruslan Hristov, Sunil Mallya, Emilio Frazzoli, Andrea Censi, Liam Paull:
The AI Driving Olympics at NeurIPS 2018. CoRR abs/1903.02503 (2019) - [i7]Guillermo Gallego, Tobi Delbrück, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew J. Davison, Jörg Conradt, Kostas Daniilidis, Davide Scaramuzza:
Event-based Vision: A Survey. CoRR abs/1904.08405 (2019) - [i6]Andrea Censi, Saverio Bolognani, Julian G. Zilly, Shima Sadat Mousavi, Emilio Frazzoli:
Today Me, Tomorrow Thee: Efficient Resource Allocation in Competitive Settings using Karma Games. CoRR abs/1907.09198 (2019) - [i5]Gioele Zardini, Nicolas Lanzetti, Mauro Salazar, Andrea Censi, Emilio Frazzoli, Marco Pavone:
Towards a Co-Design Framework for Future Mobility Systems. CoRR abs/1910.07714 (2019) - [i4]Julian G. Zilly, Lorenz Hetzel, Andrea Censi, Emilio Frazzoli:
Quantifying the effect of representations on task complexity. CoRR abs/1912.09399 (2019) - 2017
- [j8]Andrea Censi:
A Class of Co-Design Problems With Cyclic Constraints and Their Solution. IEEE Robotics Autom. Lett. 2(1): 96-103 (2017) - [j7]Andrea Censi:
Uncertainty in Monotone Codesign Problems. IEEE Robotics Autom. Lett. 2(3): 1556-1563 (2017) - [c37]Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cáp, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih-Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry S. Yershov, Hang Zhao, Michael Benjamin, Christopher Carr, Maria T. Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi:
Duckietown: An open, inexpensive and flexible platform for autonomy education and research. ICRA 2017: 1497-1504 - 2016
- [c36]Andrea Censi:
Monotone co-design problems; or, everything is the same. ACC 2016: 1227-1234 - [c35]Prince Singh, Sze Zheng Yong, Jean Gregoire, Andrea Censi, Emilio Frazzoli:
Stabilization of linear continuous-time systems using neuromorphic vision sensors. CDC 2016: 3030-3036 - [c34]Jacopo Tani, Liam Paull, Maria T. Zuber, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi:
Duckietown: An Innovative Way to Teach Autonomy. EDUROBOTICS 2016: 104-121 - [i3]Andrea Censi:
Handling Uncertainty in Monotone Co-Design Problems. CoRR abs/1609.03103 (2016) - 2015
- [j6]Andrea Censi, Richard M. Murray:
Bootstrapping bilinear models of Simple Vehicles. Int. J. Robotics Res. 34(8): 1087-1113 (2015) - [c33]Andrea Censi:
Efficient neuromorphic optomotor heading regulation. ACC 2015: 3854-3861 - [c32]Erich Mueller, Andrea Censi, Emilio Frazzoli:
Low-latency heading feedback control with neuromorphic vision sensors using efficient approximated incremental inference. CDC 2015: 992-999 - [c31]Erich Mueller, Andrea Censi, Emilio Frazzoli:
Efficient high speed signal estimation with neuromorphic vision sensors. EBCCSP 2015: 1-8 - [c30]Andrea Censi, Erich Mueller, Emilio Frazzoli, Stefano Soatto:
A Power-Performance Approach to Comparing Sensor Families, with application to comparing neuromorphic to traditional vision sensors. ICRA 2015: 3319-3326 - [i2]Andrea Censi:
A Mathematical Theory of Co-Design. CoRR abs/1512.08055 (2015) - 2014
- [j5]Luca Carlone, Andrea Censi:
From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization. IEEE Trans. Robotics 30(2): 475-492 (2014) - [c29]Andrea Censi, Davide Scaramuzza:
Low-latency event-based visual odometry. ICRA 2014: 703-710 - [c28]Luca Carlone, Andrea Censi, Frank Dellaert:
Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs. IROS 2014: 2667-2674 - 2013
- [j4]Andrea Censi, Davide Scaramuzza:
Calibration by Correlation Using Metric Embedding from Nonmetric Similarities. IEEE Trans. Pattern Anal. Mach. Intell. 35(10): 2357-2370 (2013) - [j3]Andrea Censi, Andrew D. Straw, Rosalyn W. Sayaman, Richard M. Murray, Michael H. Dickinson:
Discriminating External and Internal Causes for Heading Changes in Freely Flying Drosophila. PLoS Comput. Biol. 9(2) (2013) - [j2]Andrea Censi, Antonio Franchi, Luca Marchionni, Giuseppe Oriolo:
Simultaneous Calibration of Odometry and Sensor Parameters for Mobile Robots. IEEE Trans. Robotics 29(2): 475-492 (2013) - [c27]Andrea Censi, Adam Nilsson, Richard M. Murray:
Motion planning in observations space with learned diffeomorphism models. ICRA 2013: 2860-2867 - [c26]Andrea Censi, Jonas Strubel, Christian Brandli, Tobi Delbrück, Davide Scaramuzza:
Low-latency localization by active LED markers tracking using a dynamic vision sensor. IROS 2013: 891-898 - [c25]Adam Nilsson, Andrea Censi:
Accurate recursive learning of uncertain diffeomorphism dynamics. IROS 2013: 1208-1215 - 2012
- [c24]Andrea Censi, Magnus Hakansson, Richard M. Murray:
Fault detection and isolation from uninterpreted data in robotic sensorimotor cascades. ICRA 2012: 229-236 - [c23]Andrea Censi, Richard M. Murray:
Learning diffeomorphism models of robotic sensorimotor cascades. ICRA 2012: 3657-3664 - [c22]Paloma de la Puente, Andrea Censi:
Dense Map Inference with User-Defined Priors: From Priorlets to Scan Eigenvariations. Spatial Cognition 2012: 94-113 - [i1]Luca Carlone, Andrea Censi:
From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization. CoRR abs/1211.3063 (2012) - 2011
- [j1]Andrea Censi:
Kalman Filtering With Intermittent Observations: Convergence for Semi-Markov Chains and an Intrinsic Performance Measure. IEEE Trans. Autom. Control. 56(2): 376-381 (2011) - [c21]Andrea Censi, Richard M. Murray:
Uncertain semantics, representation nuisances, and necessary invariance properties of bootstrapping agents. ICDL-EPIROB 2011: 1-8 - [c20]Andrea Censi, Richard M. Murray:
Bootstrapping bilinear models of robotic sensorimotor cascades. ICRA 2011: 4318-4325 - [c19]Andrea Censi, Richard M. Murray:
Bootstrapping sensorimotor cascades: A group-theoretic perspective. IROS 2011: 2056-2063 - [c18]Davide Scaramuzza, Andrea Censi, Kostas Daniilidis:
Exploiting motion priors in visual odometry for vehicle-mounted cameras with non-holonomic constraints. IROS 2011: 4469-4476 - 2010
- [c17]Shuo Han, Andrea Censi, Andrew D. Straw, Richard M. Murray:
A bio-plausible design for visual pose stabilization. IROS 2010: 5679-5686
2000 – 2009
- 2009
- [c16]Andrea Censi:
On the performance of Kalman filtering with intermittent observations: A geometric approach with fractals. ACC 2009: 3806-3812 - [c15]Andrea Censi, Richard M. Murray:
Real-valued average consensus over noisy quantized channels. ACC 2009: 4361-4366 - [c14]Andrea Censi, Shuo Han, Sawyer B. Fuller, Richard M. Murray:
A bio-plausible design for visual attitude stabilization. CDC 2009: 3513-3520 - [c13]Andrea Censi:
On achievable accuracy for pose tracking. ICRA 2009: 1-7 - [c12]Andrea Censi, Stefano Carpin:
HSM3D: Feature-less global 6DOF scan-matching in the Hough/Radon domain. ICRA 2009: 3899-3906 - [c11]Stefano Carpin, Andrea Censi:
An experimental assessment of the HSM3D algorithm for sparse and colored data. IROS 2009: 3595-3600 - 2008
- [c10]Andrea Censi:
An ICP variant using a point-to-line metric. ICRA 2008: 19-25 - [c9]Andrea Censi, Daniele Calisi, Alessandro De Luca, Giuseppe Oriolo:
A Bayesian framework for optimal motion planning with uncertainty. ICRA 2008: 1798-1805 - [c8]Andrea Censi, Luca Marchionni, Giuseppe Oriolo:
Simultaneous maximum-likelihood calibration of odometry and sensor parameters. ICRA 2008: 2098-2103 - [c7]Andrea Censi, Gian Diego Tipaldi:
Lazy localization using the Frozen-Time Smoother. ICRA 2008: 2778-2783 - [c6]Daniele Calisi, Andrea Censi, Luca Iocchi, Daniele Nardi:
OpenRDK: A modular framework for robotic software development. IROS 2008: 1872-1877 - [c5]Andrea Censi:
The role of Bayesian bounds in comparing SLAM algorithms performance. PerMIS 2008: 271-277 - 2007
- [c4]Andrea Censi:
An accurate closed-form estimate of ICP's covariance. ICRA 2007: 3167-3172 - [c3]Andrea Censi:
On achievable accuracy for range-finder localization. ICRA 2007: 4170-4175 - 2006
- [c2]Andrea Censi:
Scan Matching in a Probabilistic Framework. ICRA 2006: 2291-2296 - 2005
- [c1]Andrea Censi, Luca Iocchi, Giorgio Grisetti:
Scan Matching in the Hough Domain. ICRA 2005: 2739-2744
Coauthor Index
[j18] [j17] [i26] [j16] [j15] [j14] [j13] [c60] [c59] [c58] [c57] [i25] [i24] [i23] [j11] [c56] [c55] [c53] [c52] [c51] [i22] [i21] [i20] [j10] [j9] [c50] [c48] [c47] [i17] [i16] [c46] [c45] [c44] [i15] [i14] [i13] [i12] [i11] [i10] [c43] [c42] [c41] [c39] [c38] [i9] [i8] [i6] [i5] [i4] [c37] [c35] [c32] [c31] [c30]
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