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@BOOK{,
     author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
      title = {Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments},
     series = {Studies in Computational Intelligence},
     volume = {68},
       year = {2007},
  publisher = {Springer-Verlag},
       isbn = {978-3-540-72688-3},
        url = {http://link.springer.com/book/10.1007%2F978-3-540-72690-6},
        doi = {10.1007/978-3-540-72690-6}
}