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

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