3 Conor McGann Eric Berger Jonathan Bohren Sachin Chitta Brian Gerkey Stuart Glaser Bhaskara Marthi Wim Meeussen Tony Pratkanis Eitan Marder-Eppstein Melonee Wise 2009 Model-based, Hierarchical Control of a Mobile Manipulation Platform ICAPS Workshop on Planning and Plan Execution for Real-World Systems Thessaloniki, Greece taskplanning