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@ARTICLE{,
    author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
     title = {Improving Efficiency in Mobile Robot Task Planning Through World Abstraction},
   journal = {IEEE Transactions on Robotics & Automation},
    volume = {20},
    number = {4},
      year = {2004},
       doi = {10.1109/TRO.2004.829480},
     pages = {677--690}
}