A Hybrid Control Architecture for Mobile Manipulation. Petersson, L., Egerstedt, M., & Christensen, H. In Proc. of International Robotics Symposium '99 – IROS, volume 3, pages 1285–1291, Korea, October, 1999. IEEE.
bibtex   
@inproceedings{petersson99:-hybrid-contr-archit-mobil-manip,
 address = {Korea},
 author = {L. Petersson and M. Egerstedt and H.I. Christensen},
 booktitle = {Proc. of International Robotics Symposium '99 -- IROS},
 date-added = {2008-07-19 10:41:33 -0400},
 date-modified = {2008-07-19 10:41:33 -0400},
 month = {October},
 organization = {IEEE},
 pages = {1285--1291},
 pdf = {hic-papers/iros-99-arch.pdf},
 title = {A Hybrid Control Architecture for Mobile Manipulation},
 type = {Conference},
 volume = {3},
 year = {1999}
}

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