@article{DBLP:journals/ras/BerenzS14, title = {Targets-Drives-Means: {A} declarative approach to dynamic behavior specification with higher usability}, author = {Berenz, Vincent and Suzuki, Kenji}, journal = {Robotics and Autonomous Systems}, volume = {62}, number = {4}, pages = {545--555}, year = {2014}, doi = {10.1016/j.robot.2013.12.010}, url = {http://dx.doi.org/10.1016/j.robot.2013.12.010} }