@misc{indiciaea768aef2f14b,
  title = {CLARAty: coupled layer architecture for robotic autonomy},
  author = {Gaines, Daniel M. and Nesnas, Issa A.},
  year = {2005},
  url = {https://ntrs.nasa.gov/citations/20060042894},
  note = {Source identifier: 20060042894}
}