Roberts, Mark, Laura M. Hiatt, Vivint Shetty, Benjamin Brumback, Brandon Enochs, and Piyabutra Jampathom. “Goal Lifecycle Networks For Robotics”. The International FLAIRS Conference Proceedings 34 (April 18, 2021). Accessed April 25, 2024. https://journals.flvc.org/FLAIRS/article/view/128553.