@techreport{MaeveAutomation-TR1,
     title = {{Image Space Potential Fields: Constant Size Environment Representation for Vision-based Subsumption Control Architectures}},
     author = {Jeffrey Kane Johnson},
     year = {2017},
     institution = {Maeve Automation},
     month = {September},
     url = {https://arxiv.org/abs/1709.09662}
}