@article{fisher-estlin-gaines-et-al-2002,
	title        = {CLEaR: Closed Loop Execution and Recovery - A Framework for Unified Planning and Execution},
	author       = {Forest Fisher and Tara Estlin and Daniel Gaines and Steve Schaffer and Caroline Chouinard and Russell Knight},
	year         = 2002,
	month        = {September},
	journal      = {Interplanetary Network Directorate Technology and Science News},
	volume       = {Issue 16},
	pages        = {15--20},
	clearance    = {CL\#02-2233},
	organization = {Jet Propulsion Laboratory}
}

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