Unified Behavior Framework for Reactive Robot Control. Woolley, B. G. & Peterson, G. L. J. Intell. Robotic Syst., 55(2-3):155-176, 2009.  
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Paper  bibtex   @article{journals/jirs/WoolleyP09,
  added-at = {2020-10-26T00:00:00.000+0100},
  author = {Woolley, Brian G. and Peterson, Gilbert L.},
  biburl = {https://www.bibsonomy.org/bibtex/2a7d276735d7383026c3a66ff2b8d3eb0/dblp},
  ee = {https://doi.org/10.1007/s10846-008-9299-1},
  interhash = {6352803bc87ee3f2836a2badd27e3dae},
  intrahash = {a7d276735d7383026c3a66ff2b8d3eb0},
  journal = {J. Intell. Robotic Syst.},
  keywords = {dblp},
  number = {2-3},
  pages = {155-176},
  timestamp = {2020-10-27T11:42:43.000+0100},
  title = {Unified Behavior Framework for Reactive Robot Control.},
  url = {http://dblp.uni-trier.de/db/journals/jirs/jirs55.html#WoolleyP09},
  volume = 55,
  year = 2009
} 
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