@InCollection{Galicki:1999,
  author  = "M. Galicki",
  title     = "Robot task planing",
  pages     = "318--376",
  year      = "1999",
  booktitle = "Basics of robotics : theory and components of manipulators and robots, ISBN: 3211831509",
  publisher = "Springer",
  address   = "Wien",
  series    = "Courses and Lectures : 402",
}