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Document type:
Zeitschriftenaufsatz 
Author(s):
Agostini, Alejandro; Saveriano, Matteo; Lee, Dongheui; Piater, Justus 
Title:
Manipulation Planning Using Object-Centered Predicates and Hierarchical Decomposition of Contextual Actions 
Journal title:
IEEE Robotics and Automation Letters 
Year:
2020 
Journal volume:
Journal issue:
Pages contribution:
5629-5636 
Fulltext / DOI:
Publisher:
Institute of Electrical and Electronics Engineers (IEEE) 
E-ISSN:
2377-37662377-3774 
Date of publication:
01.10.2020