@inbook{e0507a40809311db8b97000ea68e967b,
title = "Hierarchical Control for Navigation using Heterogeneous Models",
author = "Paolo Pirjanian and Christensen, {Henrik I.}",
year = "1995",
language = "English",
isbn = "9810222386",
series = "Series in Machine Perception and Artificial Intelligense",
number = "21",
pages = "344--361",
editor = "H. Bunke and H. Noldemeyer and T. Kanade",
booktitle = "Modelling and Planning for Sensor Based Intelligent Robot Systems",
publisher = "World Scientific",
}