Kelly A. Korzeniowski, Charles B. McVey. Hierarchical system for automated path planning and scheduling. In Howie Choset, Douglas W. Gage, Pushkin Kachroo, Mikhail Kourjanski, Marten J. de Vries, editors, Mobile Robots XIII and Intelligent Transportation Systems, Boston, MA, USA, November 1, 1998. Volume 3525 of SPIE Proceedings, pages 204-213, SPIE, 1998. [doi]
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