Mugan Bibtex Reference

@INPROCEEDINGS{Mugan-ijcai-09,
  author = {J. Mugan and B. Kuipers},
  title = {Autonomously Learning an Action Hierarchy Using a Learned Qualitative
	State Representation},
  booktitle = {Proceedings of the Ninth International Joint Conference on Artificial Intelligence
	(IJCAI-09)},
  pages     = {1175-1180},
  year = {2009}
}