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@ARTICLE{,
    author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
     title = {Multihierarchical Interactive Task Planning. Application to Mobile Robotics},
   journal = {IEEE Transactions on Systems, Man, and Cybernetics, part B},
    volume = {38},
    number = {3},
      year = {2008},
       doi = {10.1109/TSMCB.2008.920227},
     pages = {785--798}
}