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@PHDTHESIS{,
    author = {Galindo, Cipriano and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
     title = {A Multi-Hierarchical Symbolic Model of the Environment for Improving Mobile Robot Operation},
      year = {2006},
    school = {PhD. Thesis in Computer Science, University of Malaga},
       url = {http://hdl.handle.net/10630/10478}
}