A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields.

Tim Laue Thomas Röfer A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields. 122-133 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3276&spage=122 2004 conf/robocup/2004 RobuCup db/conf/robocup/robocup2004.html#LaueR04