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@article{Doherty611599,
   author = {Doherty, Patrick and Heintz, Fredrik and Kvarnstr{\"o}m, Jonas},
   institution = {Linköping University, KPLAB - Knowledge Processing Lab},
   institution = {Linköping University, UASTECH  - Autonomous Unmanned Aircraft Systems Technologies},
   institution = {Linköping University, The Institute of Technology},
   journal = {Unmanned Systems},
   number = {1},
   pages = {75--119},
   title = {High-level Mission Specification and Planning for Collaborative Unmanned Aircraft Systems using Delegation},
   volume = {1},
   year = {2013}
}

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