@InProceedings{LIS5,<br>title = {Decidability of Semi-Holonomic Prehensile Task and Motion Planning},<br>author = {Ashwin Deshpande, Leslie Pack Kaelbling, Tomas Lozano-Perez},<br>year = {2016},<br>url = {http://lis.csail.mit.edu/pubs/deshpande-WAFR16.pdf},<br>booktitle = {International Workshop on the Algorithmic Foundations of Robotics (WAFR)},<br>}