Behavior coordination in structured environments. Althaus, P. & Christensen, H. Advanced Robotics, 17(7):657–674, 2003.
bibtex   
@article{althauschristensen:03c,
  author        = {Althaus, P. and Christensen, H.~I.},
  category      = {Journal},
  journal       = {Advanced Robotics},
  number        = 7,
  pages         = {657--674},
  title         = {Behavior coordination in structured environments},
  volume        = 17,
  year          = 2003
}

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