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Rosenbaum, D. (2013-02-01). Cognitive Foundations of Action Planning and Control. In Action Science: Foundations of an Emerging Discipline. : The MIT Press. Retrieved 28 Sep. 2021, from https://mitpress.universitypressscholarship.com/view/10.7551/mitpress/9780262018555.001.0001/upso-9780262018555-chapter-4.