@InProceedings{LIS2,<br>title = {Implicit Belief-Space Pre-images for Hierarchical Planning and Execution},<br>author = {Leslie Pack Kaelbling and Tomas Lozano-Perez},<br>year = {2016},<br>url = {http://lis.csail.mit.edu/pubs/lpk/icra16Final.pdf},<br>booktitle = {IEEE Conference on Robotics and Automation (ICRA)},<br>}