Executing Reactive , Model-based Programs through Graph-based Temporal Planning. Kim, P., Williams, B. C, Rm, M I T, & Abramson, M.
bibtex   
@article{kim_executing_nodate,
	title = {Executing {Reactive} , {Model}-based {Programs} through {Graph}-based {Temporal} {Planning}},
	author = {Kim, Phil and Williams, Brian C and Rm, M I T and Abramson, Mark}
}
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