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We investigate different approaches to integrating object recognition andplanning in a tabletop manipulation domain with the set of objects used in the2012 RoboCup@Work competition. Results of our preliminary experiments showthat, with some approaches, close integration of perception and planningimproves the quality of plans, as well as the computation times of feasibleplans.

Integration of 3D Object Recognition and Planning for Robotic Manipulation: A Preliminary Report