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      A robust layered control system for a mobile robot

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          Journal
          IEEE Journal on Robotics and Automation
          IEEE J. Robot. Automat.
          Institute of Electrical and Electronics Engineers (IEEE)
          0882-4967
          March 1986
          1986
          : 2
          : 1
          : 14-23
          Article
          10.1109/JRA.1986.1087032
          © 1986
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