@inproceedings{Gaschler2013a, author = {Gaschler, Andre and Petrick, Ronald P. A. and Kr{\"{o}}ger, Torsten and Knoll, Alois and Khatib, Oussama}, title = {Robot Task Planning with Contingencies for Run-time Sensing}, booktitle = {Proceedings of the Workshop on Combining Task and Motion Planning, IEEE International Conference on Robotics and Automation (ICRA)}, year = {2013}, keywords = {robotics, james}, }