@inproceedings{HofmannMatareSchifferetal.2018,
  author    = {Till Hofmann and Victor Matar{\´e} and Stefan Schiffer and Alexander Ferrein and Gerhard Lakemeyer},
  title     = {Constraint-based online transformation of abstract plans into executable robot actions},
  booktitle = {Proceedings of the 2018 AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy},
  pages     = {549 -- 553},
  year      = {2018},
}