@article{gonzalez-et-al_csr2017,
  author       = {González, Jose Carlos and Pulido, Jose Carlos and Fernández, Fernando},
  journal      = {Cognitive Systems Research},
  pages        = {232 -- 249},
  title        = {A three-layer planning architecture for the autonomous control of
    rehabilitation therapies based on social robots},
  volume       = 43,
  year         = 2017,
}