@Book{LIS43,<br>title = {HANDEY: A Robot Task Planner},<br>author = {Tomas Lozano-Perez and Joseph L. Jones and Emanuel Mazer and Patrick A. O'Donnell},<br>year = {1992},<br>url = {http://people.csail.mit.edu/tlp/publications/Handey.pdf},<br>publisher = {MIT Press},<br>}