Christopher King Xavier Palathingal Monica N. Nicolescu Mircea Nicolescu A Control Architecture for Long-Term Autonomy of Robotic Assistants. 375-384 2007 conf/isvc/2007-1 ISVC (1) http://dx.doi.org/10.1007/978-3-540-76858-6_37 db/conf/isvc/isvc2007-1.html#KingPNN07