@conference {StevensMRC:1994,
	title = {{Object-Based Task-Level Control: A Hierarchical Control Architecture for Remote Operation of Space Robots}},
	booktitle = {Proceedings of the AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space},
	year = {1994},
	month = {March},
	pages = {264-273},
	address = {Houston, TX},
	author = {H. D. Stevens and E. S. Miles and Stephen M. Rock and R. H. Cannon}
}
