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@InProceedings{HeintzEtal2009IROS,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {A Stream-Based Hierarchical Anchoring Framework},
  booktitle =    {Proceedings of IROS},
  year = 	 {2009},
  url =          {http://www.ida.liu.se/~frehe/publications/iros2009.pdf},
}