@article{150966, author = {John Michaloski and Thomas Wheatley and Ronald Lumia}, title = {Exploiting Computational Parallelism with a Hierarchical Robot Control System}, year = {1988}, month = {1988-04-29}, publisher = {Ieee Journal Of Robotics And Automation}, url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820239}, language = {en}, }