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author = {A. Camurri and P. Franchi},
title = {An approach to the design and implementation of the hierarchical control system of FMS, combining structured knowledge representation formalisms and high-level petri nets},
booktitle = {Proceeding of IEEE International Conference on Robotics and Automation},
publisher = {IEEE Computer Society Press},
year = {1990},
volume = {1},
pages = {520-525},

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