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TODO
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## References
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[1] [Rodney Brooks, A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986]()
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[1] Rodney Brooks, [A robust layered control system for a mobile robot](http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1087032), IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986
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[2] Jones, Flynn, and Seiger, ["Mobile Robots, Inspiration to Implementation"](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson7.dir/11128_Mobile_Robots_Inspiration_to_Implementation-Flynn_and_Jones.pdf), Second Edition, 1999.
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