@misc{indiciaee3c9690430fe,
  title = {CLEaR: Closed Loop Execution and Recovery - a framework for unified planning and execution},
  author = {Fisher, F. W. and Estlin, T. and Gaines, D. and Schaffer, S. and Chouinard, C. and Knight, R.},
  year = {2002},
  url = {https://ntrs.nasa.gov/citations/20060030060},
  note = {Source identifier: 20060030060}
}