@Article{LIS3,<br>title = {Integrated Task and Motion Planning in Belief Space},<br>author = {Leslie Pack Kaelbling and Tomas Lozano-Perez},<br>year = {2013},<br>url = {http://lis.csail.mit.edu/pubs/tlp/IJRRBelFinal.pdf},<br>journal = {International Journal of Robotics Research},<br>volume = {32},<br>number = {9},<br>}