I. A. Sucan and L. E. Kavraki, “Mobile Manipulation: Encoding Motion Planning Options Using Task Motion Multigraphs,” in IEEE International Conference on Robotics and Automation, Shanghai, China, 2011, pp. 5492–5498.
Publisher: http://dx.doi.org/10.1109/ICRA.2011.5980212
PDF preprint: http://kavrakilab.org/publications/sucan-kavraki2011mobile-manipulation-encoding.pdf