Jesus Savage Alfredo Weitzenfeld Francisco Ayala Sergio Cuellar The Use of Scripts Based on Conceptual Dependency Primitives for the Operation of Service Mobile Robots. 284-295 2008 RoboCup http://dx.doi.org/10.1007/978-3-642-02921-9_25 conf/robocup/2008 db/conf/robocup/robocup2008.html#SavageWAC08