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[Rut01] Éric Rutten. A Framework for Using Discrete Control Synthesis in Safe Robotic Programming and Teleoperation. In ICRA'01, pages 4104-4109. IEEE Comp. Soc. Press, May 2001. 
@inproceedings{icra2001-Rut,
  author =              {Rutten, {\'E}ric},
  title =               {A Framework for Using Discrete Control Synthesis in
                         Safe Robotic Programming and Teleoperation},
  booktitle =           {{P}roceedings of the 2001 {IEEE} {I}nternational
                         {C}onference on {R}obotics and {A}utomation
                         ({ICRA}'01)},
  acronym =             {{ICRA}'01},
  publisher =           {IEEE Comp. Soc. Press},
  pages =               {4104-4109},
  year =                {2001},
  month =               may,
}
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