Smooth task switching through behaviour competition. Althaus, P. & Christensen, H. I Robotics and Autonomous Systems, 44(3–4):241–249, September, 2003.
bibtex   
@article{althaus03:smoot,
  author        = {Philipp Althaus and Henrik I Christensen},
  category      = {Journal},
  journal       = {Robotics and Autonomous Systems},
  month         = sep,
  number        = {3--4},
  pages         = {241--249},
  title         = {Smooth task switching through behaviour competition},
  volume        = 44,
  year          = 2003
}

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