Coordinating Multiple Goals for a Mobile Robot. Cudhea, P. W. & Brooks, R. A. In Intelligent Autonomous Systems, An International Conference, Amsterdam, The Netherlands, 8-11 December 1986, pages 168–174, 1986.
bibtex   
@inproceedings{DBLP:conf/ias/CudheaB86,
  author    = {Peter W. Cudhea and
               Rodney A. Brooks},
  title     = {Coordinating Multiple Goals for a Mobile Robot},
  booktitle = {Intelligent Autonomous Systems, An International Conference, Amsterdam,
               The Netherlands, 8-11 December 1986},
  pages     = {168--174},
  year      = {1986},
  crossref  = {DBLP:conf/ias/1986},
  timestamp = {Wed, 08 May 2002 15:49:16 +0200},
  biburl    = {https://dblp.org/rec/bib/conf/ias/CudheaB86},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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