Scott Lenser, James Bruce, Manuela M. Veloso. A Modular Hierarchical Behavior-Based Architecture. In Andreas Birk 0002, Silvia Coradeschi, Satoshi Tadokoro, editors, RoboCup 2001: Robot Soccer World Cup V. Volume 2377 of Lecture Notes in Computer Science, pages 423-428, Springer, 2001. [doi]
Abstract is missing.