@article{840111,
  author = {James Albus and Roger Bostelman and Tommy Chang and Tsai Hong and William Shackleford and Michael Shneier},
  title = {Learning in a Hierarchical Control System: 4D/RCS in the DARPA LAGR Program},
  year = {2006},
  month = {2006-12-29 00:12:00},
  publisher = {Journal of Field Robotics},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824552},
  language = {en},
}