@incollection{OrlandikiKI2011,
year={2011},
isbn={978-3-642-24454-4},
booktitle={KI 2011: Advances in Artificial Intelligence},
volume={7006},
series={Lecture Notes in Computer Science},
editor={Bach, Joscha and Edelkamp, Stefan},
doi={10.1007/978-3-642-24455-1_22},
title={TGA-Based Controllers for Flexible Plan Execution},
url={http://dx.doi.org/10.1007/978-3-642-24455-1_22},
publisher={Springer Berlin Heidelberg},
author={Orlandini, Andrea and Finzi, Alberto and Cesta, Amedeo and Fratini, Simone},
pages={233-245}
}