@conference {UllmanCR:1993,
	title = {{A Modular System Architecture for Multi-Manipulator, Free-Flying Space Robots}},
	booktitle = {Proceedings of the International Symposium on Intelligent Control},
	year = {1993},
	month = {August},
	pages = {90-97},
	address = {Chicago, IL},
	author = {M. A. Ullman and R. H. Cannon and Stephen M. Rock}
}
