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![Cover for Cipriano Galindo · Multiple Abstraction Hierarchies for Mobile Robot Operation in Large Environments - Studies in Computational Intelligence (Paperback Book) [Softcover reprint of hardcover 1st ed. 2007 edition] (2010)](https://imusic.b-cdn.net/images/item/original/759/9783642091759.jpg?cipriano-galindo-2010-multiple-abstraction-hierarchies-for-mobile-robot-operation-in-large-environments-studies-in-computational-intelligence-paperback-book&class=scaled&v=1408471046)