@CONFERENCE{comb:10,
  author = {\c{S}ucan, Ioan A. and Kalakrishnan, Mrinal and Chitta, Sachin},
  title = {Combining Planning Techniques for Manipulation Using Realtime Perception},
  booktitle = {IEEE International Conference on Robotics
                  and Automation},
  pages={2895--2901},
  address = {Anchorage, Alaska},
  month = {May},
  year = {2010},
}