@inproceedings{Suarez_iros18,
  author = {Suarez, A. and Aleny{\`a}, G. and Torras, C.},
  title = {Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages = {4061-4066},
  year = {2018},
  url = {http://www.iri.upc.edu/publications/show/2060},
  file = {http://www.iri.upc.edu/download/scidoc/2060},
  doi = {10.1109/IROS.2018.8593847}
}



[DOI]