@conference{774661,
  author = {Martin Herman and James Albus},
  title = {Real-Time Hierarchical Planning for Multiple Mobile Robots},
  year = {1987},
  month = {1987-12-10 00:12:00},
  publisher = {Proceedings of the DARPA Knowledge-Based Planning Workshop, Austin, TX, USA},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820187},
  language = {en},
}