@ARTICLE{r.rivas2007robotskillabstraction, TITLE = {Robot Skill Abstraction for AD Architecture}, JOURNAL = {IFAC Proceedings Volumes}, VOLUME = {40}, NUMBER = {15}, PAGES = {415 - 420}, YEAR = {2007}, AUTHOR = {R. Rivas, A. Corrales, R. Barber, M.A. Salichs} }