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@INPROCEEDINGS{,
     author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier and Galindo, Cipriano and Reina, Antonio and Muñoz, Antonio},
      month = sep,
      title = {Assistive Navigation using a Hierarchical Model of the Environment},
  booktitle = {3rd International Symposium on Engineering of Intelligent Systems (EIS)},
       year = {2002},
   location = {Málaga (Spain)}
}