Segmentation of behavioural spaces for navigation tasks. Bajcsy, R., Christensen, H., & Kosecka, J. Advanced in Computer Vision, pages 241–250. MIT Press, Wien, March, 1997.
bibtex   
@inbook{bajcsy97:-advan-comput-vision,
  Address =	 {Wien},
  Author =	 {R. Bajcsy and H.I. Christensen and J. Kosecka},
  Chapter =	 {Segmentation of behavioural spaces for navigation
                  tasks},
  Comment =	 {Signal - Symbol description with the basis in control
                  theory and computer science, illustrated by the
                  cooperative robots at UPENN.},
  Date-Added =	 {2008-07-19 10:40:32 -0400},
  Date-Modified ={2008-07-19 10:40:32 -0400},
  Month =	 MAR,
  Pages =	 {241--250},
  Publisher =	 {MIT Press},
  Series =	 {Advanced in Computer Science},
  Title =	 {Advanced in Computer Vision},
  Year =	 1997
}

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