@InProceedings{sellner08icra,
  author =       {B. Sellner and R. Simmons},
  title =        {Duration Prediction for Proactive Replanning},
  booktitle =    {Proceedings of the IEEE International Conference on Robotics and Automation},
  year =         2008,
  month =        {May},
  address =      {Pasadena, California}
}