@conference{841226,
  author = {James Albus and Tony Barbera and R Nagel},
  title = {Theory and Practice of Hierarchical Control},
  year = {1981},
  month = {1981-09-17 00:09:00},
  publisher = {Proceedings of the 23rd IEEE Computer Society International Conference, Washington, DC, USA},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820157},
  language = {en},
}