@Article{LIS29,
title = {Task-Level Planning of Pick-and-Place Robot Motions},
author = {Tomas Lozano-Perez and Joseph Jones and Emmanuel Mazer and Patrick A. O'Donnell},
year = {1989},
url = {http://lis.csail.mit.edu/pubs/tlp/task-level-planning-ieee-computer.pdf},
journal = {IEEE Computer},
volume = {22},
pages = {21--29},
}