@article{Martinez_eaai15,
  author = {Mart{\'i}nez, D. and Aleny{\`a}, G. and Torras, C.},
  title = {Planning robot manipulation to clean planar surfaces},
  journal = {Engineering Applications of Artificial Intelligence},
  year = {2015},
  volume = {39},
  pages = {23-32},
  doi = {10.1016/j.engappai.2014.11.004},
  url = {http://www.iri.upc.edu/publications/show/1602},
  file = {http://www.iri.upc.edu/download/scidoc/1602}
}



[DOI]