@inproceedings{Zarubin2012, author = {Zarubin, D. and Ivan, V. and Toussaint, M. and Komura, T. and Vijayakumar, S.}, booktitle = {Proceedings of Robotics: Science and Systems}, title = {{Hierarchical Motion Planning in Topological Representations}}, year = {2012}, address={Sydney, Australia}, }