Francesco Amigoni Nicola Gatti C. Pinciroli Manuel Roveri What planner for ambient intelligence applications? 7-21 2005 35 IEEE Transactions on Systems, Man, and Cybernetics, Part A 1 http://dx.doi.org/10.1109/TSMCA.2004.838465 db/journals/tsmc/tsmca35.html#AmigoniGPR05