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@ARTICLE{,
    author = {Galindo, Cipriano and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
     title = {Interactive in-vehicle guidance through a Multihierarchical representation of Urban map},
   journal = {International Journal of Intelligent Systems},
    volume = {25},
    number = {7},
      year = {2010},
       doi = {10.1002/int.20414},
     pages = {597--707}
}