@InProceedings{LIS1,<br>title = {Hierarchical Task and Motion Planning in the Now},<br>author = {Leslie Pack Kaelbling and Tomas Lozano-Perez},<br>year = {2011},<br>url = {http://people.csail.mit.edu/lpk/papers/hpnICRA11Final.pdf},<br>note = {Finalist, Best Manipulation Paper Award},<br>booktitle = {IEEE Conference on Robotics and Automation (ICRA)},<br>}