@Article{Rekleitis2005,
  author = 	 {Brad Lisien and Deryck Morales and David Silver and George Kantor and Ioannis M. Rekleitis and Howie Choset},
  title = 	 {The Hierarchical Atlas},
  journal = 	 {IEEE Transactions on Robotics },
  year = 	 2005,
  volume =	 21,
  number =	 3,
  pages =	 {473-481},
  month =	 {June}
}