@inproceedings{ijcai1997p197,
  title     = {Learning to Coordinate Controllers - Reinforcement Learning on a Control Basis},
  author    = {Huber, Manfred and Grupen, Roderic A.},
  booktitle = {Proceedings of the Fifteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-97}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Martha E. Pollack},
  pages     = {1366--1370},
  year      = {1997},
  note      = {Robotics},
  url       = {https://ijcai.org/proceedings/1997/197},
}