@Article{LIS8,<br>title = {Robot Programming},<br>author = {Tomas Lozano-Perez},<br>year = {1983},<br>url = {http://lis.csail.mit.edu/pubs/tlp/robot-programming.pdf},<br>journal = {Proceedings of the IEEE},<br>volume = {71},<br>pages = {821--841},<br>}