@inproceedings {zelek1996performing,
	title = {Performing Concurrent Robot Path Execution and Computation in Real-Time},
	booktitle = {Proc. 1996 AAAI Fall Symp. on Flexible Computation in Intelligent Systems},
	year = {1996},
	pages = {160{\textendash}167},
	author = {Zelek, John S}
}
