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@INPROCEEDINGS{,
     author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
      title = {Mobile Robot Path Planning and Navigation Using Hierarchical Graphs},
  booktitle = {International ICSC Symposium on Engineering of Intelligent Systems (EIS'98)},
       year = {1998},
   location = {Tenerife, Canary Islands (Spain)}
}