@inbook{CUr/Hie/2003, author = "Urdiales Garc{\'i}a, Cristina and Bandera Rubio, Antonio Jes{\'u}s and P{\'e}rez Rodr{\'i}guez, Eduardo Javier and Poncela Gonz{\'a}lez, Alberto and Sandoval Hern{\'a}ndez, Francisco", note = "Autonomous Robotic Systems. Soft Computing and Hard Computing Methodologies and Applications (C. Zhou, D. Maravall, D. Ruan, Eds.), Physica-Verlag, Studies in Fuzziness and Soft Computing en Autonomous Robotic Systems. Soft Computing and Hard Computing Methodologies and Applications (C. Zhou, D. Maravall, D. Ruan, Eds.), Physica-Verlag, Studies in Fuzziness and Soft Computing, Vol. 116", pages = "pp. 165-188", title = "{H}ierarchical planning in a mobile robot for map learning and navegation", volume = "116", year = "2003", }