@conference{150626,
  author = {John Michaloski and Ronald Lumia and Thomas Wheatley},
  title = {Heuristics for Robot System Design Using a Concurrent Hierarchical Control Model},
  year = {1988},
  month = {1988-09-30},
  publisher = {Robot Systems Division Internal Report, Gaithersburg, MD},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820237},
  language = {en},
}