Autonomous robot architecture: Difference between revisions

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| issue = 2–3
| pages = 175–189
| url = http://www.ingentaconnect.com/content/tandf/teta/1997/00000009/F0020002/art00004
| accessdate = 2008-04-06
| doi = 10.1080/095281397147068
| citeseerx = 10.1.1.40.9929