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Behavior Construction and Refinement from High-Level Specifications

Andrew J. Martignoni III and William D. Smart.
In "Mobile Robots XVII (Proceedings of the SPIE 5609)", pages 289-287, Philadelphia, PA, 2004.

@inproceedings{spie04b,
  author = {Martignoni III, Andrew J. and Smart, William D.},
  title = {Behavior Construction and Refinement from High-Level Specifications},
  booktitle = {Mobile Robots {XVII} (Proceedings of the {SPIE} 5609)},
  pages = {289--287},
  address = {Philadelphia, PA},
  year = {2004}
}