@InProceedings{LIS129,<br>title = {Pre-image backchaining in belief space for mobile manipulation},<br>author = {Leslie Pack Kaelbling and Tomas Lozano-Perez},<br>year = {2011},<br>url = {http://lis.csail.mit.edu/pubs/tlp/ISRR11.pdf},<br>booktitle = {International Symposium on Robotics Research (ISRR)},<br>}