@article{beetz_plan_2001,
 author = {M Beetz},
 title = {Plan Management for Robotic Agents},
 journal = {{KI} - Künstliche Intelligenz; Special Issue on Planning and Scheduling},
 year = {2001},
 volume = {15},
 pages = {12–17},
 number = {2},
 abstract = {Autonomous robots that perform complex jobs in changing environments
	must be capable of managing their plans as the environmental conditions
	or their tasks change. This raises the problem of deciding whether,
	when, where, and how to revise the plans as the robots' beliefs change.
	This article investigates an approach to execution time plan management
	in which the plans themselves specify the plan adaptation processes.
	In this approach the robot makes strategical (farsighted) adaptations
	while it executes a plan using tactical (immediate) decisions and
	overwrites tactical adaptations after strategical decisions have
	been reached (if necessary). We present experiments in which the
	plan adaptation technique is used for the control of two autonomous
	mobile robots. In one of them it controlled the course of action
	of a museums tourguide robot that has operated for thirteen days
	and performed about 3200 plan adaptations reliably.},
}

@article{beetz_plan_2001,
 author = {M Beetz},
 title = {Plan Management for Robotic Agents},
 journal = {{KI} - Künstliche Intelligenz; Special Issue on Planning and Scheduling},
 year = {2001},
 volume = {15},
 pages = {12–17},
 number = {2},
 abstract = {Autonomous robots that perform complex jobs in changing environments
	must be capable of managing their plans as the environmental conditions
	or their tasks change. This raises the problem of deciding whether,
	when, where, and how to revise the plans as the robots' beliefs change.
	This article investigates an approach to execution time plan management
	in which the plans themselves specify the plan adaptation processes.
	In this approach the robot makes strategical (farsighted) adaptations
	while it executes a plan using tactical (immediate) decisions and
	overwrites tactical adaptations after strategical decisions have
	been reached (if necessary). We present experiments in which the
	plan adaptation technique is used for the control of two autonomous
	mobile robots. In one of them it controlled the course of action
	of a museums tourguide robot that has operated for thirteen days
	and performed about 3200 plan adaptations reliably.},
}