Hans-Dieter Burkhard Joscha Bach Ralf Berger Birger Brunswieck Michael Gollin Mental Models for Robot Control. 71-88 2001 conf/dagstuhl/2001robagents Advances in Plan-Based Control of Robotic Agents http://link.springer.de/link/service/series/0558/bibs/2466/24660071.htm db/conf/dagstuhl/robagents2001.html#BurkhardBBBG01