CLEaR: A Framework for Balancing Deliberation and Reactive Control. Fisher, F., Gaines, D., Estlin, T., Schaffer, S., & Chouinard, C. In Artificial Intelligence Planning and Scheduling (AIPS 2002), Toulouse, France, April, 2002.
bibtex   
@inproceedings{fisher-gaines-estlin-et-al-AIPS-2002,
  author = {F. Fisher and D. Gaines and T. Estlin and S. Schaffer and C. Chouinard},
  title = {CLEaR: A Framework for Balancing Deliberation and Reactive Control},
  booktitle = {Artificial Intelligence Planning and Scheduling (AIPS 2002)},
  year = {2002},
  month = {April},
  address = {Toulouse, France},
  clearance = {CL#01-2668},
}

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