@article{rebaarefinementbasedarchitecturefor,
  title = {REBA: A Refinement-Based Architecture for Knowledge Representation and Reasoning in Robotics},
  author = {Mohan Sridharan and Michael Gelfond and Shiqi Zhang and Jeremy Wyatt},
  year = {2015},
  eprint = {1508.03891},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1508.03891v4},
}