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The HATP hierarchical planner: Formalisation and an initial..:

, In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
De Silva, Lavindra ; Lallement, Raphael ; Alami, Rachid - p. 6465-6472 , 2015
Link: https://doi.org/10.1109/IROS.2015.7354301