@article{martinez-et-al_ras2016,
  author       = {Martínez, Moisés and Fernández, Fernando and Borrajo, Daniel},
  journal      = {Robotics and Autonomous Systems},
  pages        = {214 -- 230},
  title        = {Planning and execution through variable resolution planning},
  volume       = 83,
  year         = 2016,
}