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@ARTICLE{,
    author = {Fernández-Madrigal, Juan-Antonio and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
     title = {Assistive Navigation of a Robotic Wheelchair using a Multihierarchical Model of the Environment},
   journal = {Integrated Computer-Aided Engineering},
    volume = {11},
    number = {4},
      year = {2004},
       url = {http://iospress.metapress.com/content/y1fdufkd68jh33gc/},
       doi = {10.3233/ICA-2004-11402},
     pages = {309--322}
}