@inproceedings{Rajan_IWPSS04,
	author = {John Bresina and Ari K. Jónsson and Paul H. Morris and Kanna Rajan},
	title = {{Mixed-Initiative Constraint-Based Activity Planning for
Mars Exploration Rovers}},
	booktitle = {Proceedings of the 4$^{th}$ International Workshop on Planning and Scheduling for Space},
	month = {June},
	pages ={219-225},
	year = {2004}
}