@article{saleem2023preprocessing,
  title={Preprocessing-based planning for utilizing contacts in semi-structured high-precision insertion tasks},
  author={Saleem, Muhammad Suhail and Veerapaneni, Rishi and Likhachev, Maxim},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  number={11},
  pages={6947--6954},
  year={2023},
  publisher={IEEE}
}