@phdthesis{Hartanto2010,
  author    = {Ronny Hartanto},
  title     = {Fusing DL Reasoning with HTN Planning as a Deliberative Layer in Mobile Robotics},
  year      = {2010},
  abstract  = {Action planning has been used in the field of robotics for solving long-running tasks. In the robot architectures field, it is also known as the deliberative layer. However, there is still a gap between the symbolic representation on the one hand and the low-level control and sensor representation on the other. In addition, the definition of a planning problem for a complex, real-world robot is not trivial. The planning process could become intractable as its search spaces become large.},
  language  = {en}
}