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@ARTICLE{,
    author = {Galindo, Cipriano and Saffiotti, Alessandro},
     title = {Inferring Robot Goals from Violations of Semantic Knowledge},
   journal = {Robotics and Autonomous Systems},
    volume = {61},
    number = {10},
      year = {2013},
       doi = {10.1016/j.robot.2012.12.007},
     pages = {1131--1143}
}