@article{kosecka97:experbehavcompos,
  author        = {J. Kosecka and H. I. Christensen and R. Bajcsy},
  category      = {Journal},
  journal       = {Journal on Robotics and Autonomous Systems},
  month         = mar,
  number        = {3--4},
  pages         = {287--318},
  title         = {Experiments in Behaviour Composition},
  volume        = 19,
  year          = 1997
}