@inproceedings{CASE-2013-OFlahertyE,
	author        = "Rowland O'Flaherty and Magnus Egerstedt",
	booktitle     = "{Proceedings of the Ninth International Conference on Automation Science and Engineering}",
	doi           = "10.1109/CoASE.2013.6653937",
	pages         = "7--12",
	publisher     = "{IEEE}",
	title         = "{Learning to locomote: Action sequences and switching boundaries}",
	year          = 2013,
}