@inproceedings{Gaschler2015b, author = {Gaschler, Andre and Kessler, Ingmar and Petrick, Ronald P. A. and Knoll, Alois}, title = {Extending the Knowledge of Volumes Approach to Robot Task Planning with Efficient Geometric Predicates}, booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation (ICRA)}, year = {2015}, month = jun, doi = {10.1109/ICRA.2015.7139619}, keywords = {robotics, james, smerobotics}, }