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@INPROCEEDINGS{,
     author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
      month = jul,
      title = {Task-Driven, Multiple Abstraction for Modeling Mobile Robot Large-Scale Space},
  booktitle = {15th IFAC World Congress on Automatic Control},
       year = {2002},
   location = {Barcelona (Spain)}
}