Barney Pell Douglas E. Bernard Steve A. Chien Erann Gat Nicola Muscettola P. Pandurang Nayak Michael D. Wagner Brian C. Williams An Autonomous Spacecraft Agent Prototype. 29-52 1998 5 Auton. Robots 1 db/journals/arobots/arobots5.html#PellBCGMNWW98