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@Article{DohertyEtal2009JAAMAS,
  author = 	 {Patrick Doherty and Jonas Kvarnstr\"om and Fredrik Heintz},
  title = 	 {A Temporal Logic-based Planning and Execution Monitoring Framework for Unmanned Aircraft Systems},
  journal = 	 {Journal of Autonomous Agents and Multi-Agent Systems},
  year = 	 {2009},
  url =          {http://www.ida.liu.se/%7Efrehe/publications/jaamas2009.pdf}
}