I. A. Sucan and L. E. Kavraki, “On the Advantages of Using Task Motion Multigraphs for Efficient Mobile Manipulation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 4621–4626.
Publisher: http://dx.doi.org/10.1109/IROS.2011.6048260
PDF preprint: http://kavrakilab.org/publications/sucan-kavraki2011on-advantages-of.pdf