@conference{150456,
  author = {Alberto Lacaze},
  title = {Hierarchical Planning Algorithms},
  year = {2002},
  month = {2002-04-05},
  publisher = {SPIE 16th Annual International Symposium on Aerospace/Defense Sensing, Simulation and Controls, Orlando, FL},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=821734},
  language = {en},
}