@TechReport{LIS211,<br>title = {Planning Robust Strategies for Constructing Multi-object Arrangements},<br>author = {Anders, Ariel and Kaelbling, Leslie and Lozano-Perez, Tomas},<br>year = {2017},<br>url = {https://dspace.mit.edu/handle/1721.1/108510},<br>school = {CSAIL MIT},<br>}