@misc{indiciae1794cfcebc21,
  title = {CLEaR: a framework for balancing deliberative and reactive control},
  author = {Fisher, F. and Gaines, D. M. and Estlin, T. A. and Schaffer, S. and Chouinard, C.},
  year = {2002},
  url = {https://ntrs.nasa.gov/citations/20060032097},
  note = {Source identifier: 20060032097}
}