Answer Set Programming for Collaborative Housekeeping Robotics: Representation, Reasoning, and Execution. Erdem, E., Aker, E., & Patoglu, V. Intelligent Service Robotics, 2012.
bibtex   
@Article{Erdemj2012,
	author = {Esra Erdem and Erdi Aker and Volkan Patoglu},
	journal = {Intelligent Service Robotics},
	year = {2012},
	title = {{Answer Set Programming for Collaborative Housekeeping Robotics: Representation, Reasoning, and Execution}},
	volume = {5},
	page = {275--291},
}
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